MR-J4 - Beginner's Manual 280214-A (10.14)

MITSUBISHI ELECTRIC
MELSERVO
Servo Amplifiers and Motors
Beginners Manual
MR-J4-A(-RJ)/A4(-RJ)
MR-J4-B(-RJ)/B4(-RJ)
MR-J4W-B
Art. No.: 280214

20 10 2014
MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION
Version A Version check
About This Manual
The texts, illustration, diagrams and examples in this manual are provided for
information purposes only. They are intended as aids to help explain the installation,
operation, programming and use of the servo drives and amplifiers of the
series MELSERVO J4-A, MELSERVO J4-B and MELSERVO J4W-B.
If you have any questions about the installation and operation of any of the
products described in this manual please contact your local sales office
or distributor (see back cover). You can find the latest information
and answers to frequently asked questions on our website at
www.mitsubishi-automation.com.
MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes

to this manual or the technical specifications of its products at any time without notice.
©2005
MITSUBISHI ELECTRIC EUROPE B.V.
Beginners manual for servo amplifiers
series MR-J4-A, MR-J4-B and MR-J4W-B
Art. no.: 280214
Version Revisions/Additions/Corrections
A 10/2014 pdp - rw —
Safety Guidelines
Safety Guidelines
General safety information and precautions
For use by qualified staff only
This manual is only intended for use by properly trained and qualified electrical technicians who are
fully acquainted with the relevant automation technology safety standards. All work with the hard-
ware described, including system design, installation, configuration, maintenance, service and test-
ing of the equipment, may only be performed by trained electrical technicians with approved qual-
ifications who are fully acquainted with all the applicable automation technology safety standards
and regulations. Any operations or modifications to the hardware and/or software of our products not
specifically described in this manual may only be performed by authorised MITSUBISHI ELECTRIC
staff.
Proper use of the products

The amplifiers of the MELSERVO J4 series are only intended for the specific applications explicitly
described in this manual. All parameters and settings specified in this manual must be observed. The
products described have all been designed, manufactured, tested and documented in strict compli-
ance with the relevant safety standards. Unqualified modification of the hardware or software or fail-
ure to observe the warnings on the products and in this manual may result in serious personal injury
and/or damage to property. Only peripherals and expansion equipment specifically recommended
and approved by MITSUBISHI ELECTRIC may be used in combination with amplifiers of the MELSERVO
J4 series.
All and any other uses or application of the products shall be deemed to be improper.
Relevant safety regulations

All safety and accident prevention regulations relevant to your specific application must be observed
in the system design, installation, configuration, maintenance, servicing and testing of these pro-
ducts. The regulations listed below are particularly important in this regard.
This list does not claim to be complete, however; you are responsible for being familiar with and con-
forming to the regulations applicable to you in your location.
● VDE Standards
– VDE 0100
Regulations for the erection of power installations with rated voltages below 1000 V
– VDE 0105
Operation of power installations
– VDE 0113
Electrical installations with electronic equipment
– VDE 0160
Electronic equipment for use in power installations
– VDE 0550/0551
Regulations for transformers
– VDE 0700
Safety of electrical appliances for household use and similar applications
– VDE 0860
Safety regulations for mains-powered electronic appliances and their accessories for house-
hold use and similar applications.
Beginners Manual Servo Amplifiers MELSERVO J4 I

Safety Guidelines
● Fire safety regulations

● Accident prevention regulations
– VBG Nr.4
Electrical systems and equipment
Safety warnings in this manual

In this manual warnings that are relevant for safety are identified as follows:
m
DANGER:
Failure to observe the safety warnings identified with this symbol can result in health and injury
hazards for the user.
b
WARNING:
Failure to observe the safety warnings identified with this symbol can result in damage to the
equipment or other property.
Failure to observe notes can result in serious consequences too. To prevent injury of persons all safety
and accident prevention regulations must be observed.
NOTES means that incorrect handling can result in misoperation of servo amplifier and motor.
However failure to observe notes does not result in health and injury hazards for the user or dam-
age to the equipment or other property.
Note also indicates a different setting of parameters, a different function or a different use or
provides information about the use of peripherals and expansion equipment respectively
II
Safety Guidelines
Compliance with EC directives

EU directives exist to facilitate free trade within the EU. They lay down "fundamental protective reg-
ulations" to ensure the removal of technical barriers to trade between the EU member states. In the
member states of the EU basic safety requirements and the qualifications for bearing the CE mark are
regulated by the Machinery Directive (in force since January 1995), the EMC Directive (in force since
January 1996) and the Low Voltage Directive (in force since January 1997).
Conformity with the EU directives is demonstrated with a declaration of conformity and displaying
the CE mark on the product, its packaging or its operating manual.
The directives listed above apply to appliances, machinery and systems but not to individual com-
ponents, unless the components perform a direct function for the end user. Since a servo amplifier
must be installed together with a servo motor, a control device and other mechanical parts to perform
a useful function for the end user, servo amplifiers cannot be said to perform such a direct function.
This means that they can be declared as complex components for which a declaration of conformity
and the CE mark are not required. This opinion is also upheld by CEMEP, the European Committee of
Manufacturers of Electrical Machines and Power Electronics.
However, the servo amplifiers do fulfil the requirements for the CE mark for the machines or acces-
sories in which the servo amplifiers are deployed, in accordance with the Low Voltage Directive. In
order to help users ensure conformity with the EMC Directive Mitsubishi Electric has published a man-
ual titled EMC Installation Guidelines (Art. no. 103944), which describes the proper installation of the
servo amplifiers, construction of the switchgear cabinet and other important installation tasks. Please
contact your dealer for this publication.
Beginners Manual Servo Amplifiers MELSERVO J4 III

Safety Guidelines
Specific safety information and precautions

The following safety precautions are intended as a general guideline for using PLC systems together
with other equipment. These precautions must always be observed in the design, installation and
operation of all control systems.
m
DANGER:
● Observe all safety and accident prevention regulations applicable to your specific applica-
tion. Always disconnect all power supplies before performing installation and wiring work or
opening any of the assemblies, components and devices.
● Before installation, wiring and opening of modules, components and devices, switch power
off and wait for more than 15 minutes. Then, confirm the voltage is safe with a voltage tester.
Otherwise, you may get an electric shock.
● Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts
(cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since
they may be hot while power is on or for some time after power-off. Their temperatures may
be high and you may get burnt or a parts may damaged.
● Assemblies, components and devices must always be installed in a shockproof housing fitted
with a proper cover and fuses or circuit breakers.
● Devices with a permanent connection to the mains power supply must be integrated in the
building installations with an all-pole disconnection switch and a suitable fuse.
● Ground the servo amplifier and servo motor securely.
● Check power cables and lines connected to the equipment regularly for breaks and insulation
damage. If cable damage is found immediately disconnect the equipment and the cables
from the power supply and replace the defective cabling.
● Before using the equipment for the first time check that the power supply rating matches that
of the local mains power.
● EMERGENCY OFF facilities conforming to EN 60204/IEC 204 and VDE 0113 must remain fully
operative at all times and in all PLC operating modes. The EMERGENCY OFF facility reset
function must be designed so that it cannot ever cause an uncontrolled or undefined restart.
● Configure the electromagnetic brake circuit so that it is activated by the EMERGENCY OFF
facility.
● Residual current protective devices pursuant to DIN VDE Standard 0641 Parts 1-3 are not
adequate on their own as protection against indirect contact for installations with PLC
systems. Additional and/or other protection facilities are essential for such installations.
● If your application requires by installation standards an RCD (residual current device) as up
stream protection please select the type B according to DIN VDE 0100-530.
● During power-on or operation, do not open the front cover of the servo amplifier. You may
get an electric shock.
● Do not operate the servo amplifier with the front cover removed. High-voltage terminals and
charging area are exposed and you may get an electric shock.
● Except for wiring or periodic inspection, do not remove the front cover even of the servo
amplifier if the power is off. The servo amplifier is charged and you may get an electric shock.
● To avoid an electric shock, insulate the connections of the power supply terminals.
IV
Safety Guidelines
Specific safety precautions
b
WARNING:
● Install the servo equipment with full consideration of heat generation during operation.
Leave specified clearances between the servo amplifier and control box inside walls or other
equipment. Take measures to prevent the internal temperature of the control box from
exceeding the environmental conditions.
● Do not install the servo amplifier, servo motor and regenerative resistor on or near combus-
tibles. Otherwise a fire may cause.
● When using servo drives always ensure that all electrical and mechanical specifications and
requirements are observed exactly.
● Always connect a magnetic contactor between the power supply and the main circuit power
supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down
the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor
is not connected, continuous flow of a large current may cause a fire when the servo amplifier
malfunctions.
● When the servo amplifier, the servo motor or the regenerative option has become faulty,
switch off the main servo amplifier power side. Continuous flow of a large current may cause
a fire.
● Provide an external emergency stop circuit to ensure that operation can be stopped and
power switched off immediately.
Beginners Manual Servo Amplifiers MELSERVO J4 V

Safety Guidelines
Structure
No-fuse Magnetic
Servo
breaker contactor
motor
Servo
amplifier
S001260E
Environment
Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this pur-
pose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt,
etc. (IP54).
Grounding
To prevent an electric shock, always connect the protective earth (PE) terminals of the servo amplifier
to the protective earth (PE) of the control box. Do not connect two or more ground cables to the same
protective earth (PE) terminal. Always connect the cables to the terminals one-to-one.
PE terminals PE terminals
S001261E
VI
Typographic Conventions
Use of notes
Notes containing important information are clearly identified as follows:
NOTE Note text
Use of examples
Examples containing important information are clearly identified as follows:
Example 쑴 Example text 쑶
Numbering in figures and illustrations

Reference numbers in figures and illustrations are shown with white numbers in a black circle and the
corresponding explanations shown beneath the illustrations are identified with the same numbers,
like this:

Procedures
In some cases the setup, operation, maintenance and other instructions are explained with numbered
procedures. The individual steps of these procedures are numbered in ascending order with black
numbers in a white circle, and they must be performed in the exact order shown:
Text.
Text.
Text.
Footnotes in tables
Footnote characters in tables are printed in superscript and the corresponding footnotes shown
beneath the table are identified by the same characters, also in superscript.
If a table contains more than one footnote, they are all listed below the table and numbered in ascend-
ing order with black numbers in a white circle, like this:

Text

Text

Text
Writing conventions and guidance notes

Keys or key-combinations are indicated in square brackets, such as [Enter], [Shift] or [Ctrl]. Menu
names of the menu bar, of the drop-down menus, options of a dialogue screen and buttons are indi-
cated in italic bold letters, such as the drop down menu New in the Project menu.
Beginners Manual Servo Amplifiers MELSERVO J4 VII

VIII
Table of Contents
Table of Contents
1 Introduction
1.1 What is a servo amplifier?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.1.1 The servo amplifier in the motion control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.2 Function of a servo amplifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.3 Servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.1.4 Features of servo amplifiers and motors of the MELSERVO J4 series . . . . . . . . . . . . . 1-4
1.2 Environmental conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3 Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
2 Introduction of the devices
2.1 Servo amplifier series MR-J4-A(-RJ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Servo amplifier series MR-J4-B(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 Servo amplifier series MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Model designation and output power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.5 Combinations of servo amplifiers and servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.1 200 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.2 400 V class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.6 Removal and reinstallation of the front cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2.6.1 Removal of the front cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2.6.2 Reinstallation of the front cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.7 Rating plate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.7.1 MR-J4-A(-RJ) and MR-J4-B(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2.7.2 MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
3 Introduction of the servo motors
3.1 Rotatory servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1.1 Model overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.2 Rating plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.3 Servo motor series HG-MR and HG-KR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.4 Servo motor series HG-SR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.5 Servo motor series HG-JR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.1.6 Servo motor series HG-RR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.1.7 Servo motor series HG-UR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.2 Linear servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.2.1 Model overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.2.2 Rating plate (primary side – coil) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.2.3 Servo motor series LM-H3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.2.4 Servo motor series LM-U2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.2.5 Servo motor series LM-F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.6 Servo motor series LM-K2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
Beginners Manual Servo Amplifiers MELSERVO J4 1

Table of Contents
3.3 Direct drive servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3.3.1 Model overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.3.2 Rating plate (primary side – coil) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.3.3 Servo motor series TF-RFM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
4 Installation and wiring
4.1 Wiring of power supply, motor and PE terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.2 Connectors and signal arrangements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1 Servo amplifier series MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.2 Servo amplifier series MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.2.3 Servo amplifier series MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4.3 Wiring the interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.3.1 I/O interfaces in negative logic (sink type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.3.2 I/O interfaces in positive logic (source type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.3.3 Analog interfaces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.4 Communication function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.4.1 Serial interface RS-422 (only MR-J4-A(-RJ)). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.4.2 USB interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.5 Optical interface SSCNET III (only MR-J4-B(-RJ) and MR-J4W-B) . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.6 Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B) . . . . . . . . . . . . . . . . . . . . . 4-25
4.6.1 MR-J4-B(-RJ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.6.2 MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
4.7 Disabling of control axes (only MR-J4W-B). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.8 Servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.8.1 Connecting the servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.8.2 Servo motor with electromagnetic brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
4.9 Forced stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.9.1 Forced stop deceleration function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.10 Wiring examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
4.10.1 Servo amplifier series MR-J4-A(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
4.10.2 Servo amplifier series MR-J4-B(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39
4.10.3 Multi axes servo amplifier series MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.11 EM-Compatible Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43
4.11.1 EM-compatible switchgear cabinet installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43
4.11.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44
4.11.3 Optional EMC filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45
5 Startup
5.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.2 Startup of servo amplifier series MR-J4-A(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.1 Power on and off the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.2.2 Stop of operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.3 Test operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.4 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.2.5 Actual operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
2
Table of Contents
5.3 Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5.3.1 Power on and off the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.3.2 Stop of operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.3.3 Test operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
6 Operation and Settings
6.1 Display and operation section of MR-J4-A series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6.1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1.2 Display flowchart MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.3 Status display mode MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.4 Display flowchart MR-J4-A-RJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.1.5 Status display mode MR-J4-A-RJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.1.6 Display examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.1.7 Changing the status display screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.1.8 Alarm mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.1.9 Parameter mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6.1.10 Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.2 Display and operation section of MR-J4-B(-RJ) series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
6.2.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
6.2.2 Scrolling display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-22
6.2.3 Display sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
6.2.4 Test operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.2.5 Motor-less operation in controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
6.3 Display and operation section of MR-J4W-B series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29
6.3.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29
6.3.2 Scrolling display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.3.3 Display sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.3.4 Test operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.3.5 Motor-less operation in controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
7 Parameters
7.1 MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1.1 Basic setting parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 MR-J4-A-RJ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
7.2.1 Basic setting parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
7.3 MR-J4-B(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
7.4 MR-J4W-B. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-39
7.5 Other parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-50
3
Table of Contents
8 Troubleshooting
8.1 Alarm and warning list MR-J4-A(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

8.2 Alarm and warning list MR-J4-B(-RJ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.3 Alarm and warning list MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.4 Remedies for alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.5 Remedies for warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
8.6 Trouble which does not trigger alarm/warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
A Appendix
A.1 Additional information about the series MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

A.1.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.1.2 Basic setting parameters (PA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.1.3 Gain/filter setting parameters (PB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
A.1.4 Extension setting parameters (PC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
A.1.5 I/O setting parameters (PD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
A.1.6 Extension setting 2 parameters (PE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-11
A.1.7 Extension setting 3 parameters (PF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-13
A.1.8 Linear servo motor/DD motor setting parameters (PL) . . . . . . . . . . . . . . . . . . . . .A-15
A.2 Additional information about the series MR-J4-A-RJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-17
A.2.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-17
A.2.2 Basic setting parameters (PA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-21
A.2.3 Gain/filter setting parameters (PB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-22
A.2.4 Extension setting parameters (PC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-24
A.2.5 I/O setting parameters (PD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-27
A.2.9 Option setting parameters (Po) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-35
A.2.10 Positioning control parameters (PT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-36
A.3 Additional information about the series MR-J4-B(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-38
A.3.1 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-38
A.4 Additional information about the series MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-52
A.4.1 Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-52
4
What is a servo amplifier? Introduction
1 Introduction
This english document is the original instruction.
1.1 What is a servo amplifier?

1.1.1 The servo amplifier in the motion control system
Servo amplifiers are components of a so-called motion control system. This concept represents dif-
ferent types of motion control such as single-axis positioning in micro-installations but also for the
solution of sophisticated tasks like multiple-axis positioning in large-scale installations. With a motion
control system you are able to solve different positioning applications from positioning with one axis
in small production lines up to multi axis positioning in large-scale systems.
The Motion CPU controls different more or less complex motion sequences via the connected servo
amplifiers and motors.
Typical applications of a motion control systems are:
● Plastics and textile processing,
● Packaging,
● Printing and paper converting,
● Forming,
● Wood and glass working,
● Production of semiconductors
The following diagram shows the components of a motion control system with CPUs, modules, servo
amplifiers and motors.
Common
PLC CPU Motion CPU
memory
Communi- Motion
I/O Intelligent I/O
cation system
module module module
module module
Servo Servo Servo

amplifier amplifier amplifier
Motor Motor Motor
qmc0001e
Fig. 1-1: Block diagram of a motion control system
The bus system for control depends on the used servo amplifier series MR-J4-A, MR-J4-B or
MR-J4W-B.
Beginners Manual Servo Amplifiers MELSERVO J4 1-1

Introduction What is a servo amplifier?
1.1.2 Function of a servo amplifier

Servo amplifiers are specially designed frequency inverters for driving servo motors for dynamic
movements.
The block diagram in fig. 1-2 shows the two main components:
● the power rail (top) and
● the electronics for control and monitoring (bottom).
The power supply loads the capacitor C of the current source via the rectifier with a DC voltage Uz. The
power inverter generates from this DC voltage Uz a 3-phase AC voltage with variable frequency to
drive the servo motor. In the case, the drive works as a brake, the brake chopper inside the current
source limits the voltage Uz and dissipates the braking energy via the resistor R by heat. If there is
needed a higher dissipation of braking energy or if the brake events are more frequent, an external
resistor R is used to remove a higher quantity of heat.
Servo amplifier
Rectifier Current source Power inverter
Power
supply SR1 Energy Brake SR2
L1 storage chopper + Servo motor Load
V1 V3 V5 U1
R
V1
L2 Uz C
W1 M LG
V
V4 V6 V2
L3 –
Bus:
Control electronics Feedback
Data: Control/interface/monitoring
Set- Communication
points LG = Position sensor = Encoder
s001851e
Fig. 1-2: Block diagram of a servo amplifier
1-2
What is a servo amplifier? Introduction
1.1.3 Servo motors

Today servo motors are generally used to execute high dynamic movements. The motors work on the
principle of a synchronous machine, which is permanently magnetic excited (rotary servo motor).
The motors provide the torque or the power directly and are extremely effective in doing so. Driven
by servo amplifiers they work at variable, process-optimizing speed and do precise positioning with-
out delay for the machine. An encoder (position sensor) on the motor shaft reports the position of the
rotor back to the servo amplifier. To fix the reached position even in the event of power failure, the
motors are equipped with an optional electromagnetic brake. This ensures an perfect adaptation to
every needed application (e.g. hanging loads).
The cabling of the power supply of the motor and of the encoder is done by pre-assembled cables.
Most of the connections are done with connectors so that the cabling is easy, quick and safe.
Among the rotary servo motors the MR-J4 series servo amplifier is additionally able to operate linear
servo motors and direct drive servo motors as standard.
Linear servo motor

A linear servo motor is an AC asynchronous linear motor that works by the same general principles as
other induction motors but is designed to directly produce motion in a straight line. Instead of pro-
ducing a torque (by rotation) it produces a force by a moving linear magnetic field acting on conduc-
tors in the field. The most common mode of operation is as a Lorentz-type actuator, in which the
applied force is linearly proportional to the current and the magnetic field.
Direct drive servo motor

If a high torque is needed in a special application by using a conventional motor, this requirement can
only be solved by using a gear or belt reduction system. Such mechanical reduction systems increase
torque but accuracy and repeatability will be reduced by backlash and friction.
The direct drive servo motor is gearless so it eliminates friction from its power transmission. They are
suitable for low-speed and high-torque operation. Since the absolute position encoder is coupled
directly to the load, system accuracy and repeatability are greatly increased and backlash is
eliminated.

Introduction What is a servo amplifier?
1.1.4 Features of servo amplifiers and motors of the MELSERVO J4 series

The motion CPU controls the connected servo amplifiers which drive the servo motors for movement
and position. The servo motor is tuned to a certain shaft position, direction of rotation, speed or a cer-
tain torque.
All servo motors from the MELSERVO J4 series are equipped by default with a single-turn absolute
position encoder. Due to the high encoder resolution of up to 4,194,304 pulses per revolution (22 bit),
accurate positioning and high speed stability are possible. The encoder is rigidly coupled to the motor
shaft of the servo motor and gives the motor shaft position via the encoder cable back to the servo
amplifier (actual position value). The servo amplifier controls position deviations by comparing the
actual position value and the position setpoint (command value of the motion CPU). This position
deviation or error is also called droop pulse.
By connecting a buffer battery to the servo amplifier, the reference position of the servo motor, also
called zero position or home position, can be stored. By supplying the memory with the battery volt-
age the data of the reference position are kept in the servo amplifier even if the power supply to the
servo amplifier fails, is switched off or in case of an alarm. This function is called absolute position
detection system.
You can connect the servo amplifier to a PC for configuration. For this purpose Mitsubishi offers the
setup software "MR Configurator2". The connection between servo amplifier and PC is done by the
built-in USB interface (MR-J4-A, MR-J4-B and MR-J4W-B) and additionally by RS-422 interface (only
MR-J4-A).
The MR-J4-A servo amplifiers were developed for multiple applications and are equipped with inputs
for analog and pulse signals. MR-J4-B and MR-J4W-B servo amplifiers with SSCNET III/H bus network
are designed for operation with Mitsubishi motion controllers of MELSEC System Q.
The MR-J4-A-RJ servo amplifier has a built-in positioning function (point table and program methods,
and indexer positioning operation). A simple positioning system can be configured without a con-
troller such as positioning module.
The SSCNET III/H bus system is an optical communication system with serial data exchange via optical
fibre optics based on light. This optical bus system offers high transmission speed and cannot be influ-
enced by electromagnetic interfering signals from other products.
Servo amplifiers of the MR-J4 series are available with an output power range from 100 W up to 22 kW.
Depending on the model they are suitable for one-phase power supply (output power of 700 W or
less) and three-phase power supply of 200–230 V AC or for three-phase power supply of 380–480 V
AC.
The MR-J4W2-B servo is designed to drive two servo motors, the MR-J4W3-B to drive three servo
motors. Both servo amplifier models are SSCNET III/H compatible enabling energy-conservative oper-
ation, less-wiring, compact machine design at lower cost.
1-4
Environmental conditions Introduction
1.2 Environmental conditions

Store and use the servo amplifier and servo motor in the following environmental conditions.
Conditions
Environment
Servo amplifier Servo motor
Ambient Operation 0 to +55 C (non-freezing) 0 to +40 C (non-freezing)
temperature Storage −20 to +65 C (non-freezing) −15 to +70 C (non-freezing)
Ambient Operation max. 80 % (non-condensing)
max. 90 % (non-condensing)
humidity Storage max. 90 % (With no dew condensation)
Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and
Atmosphere
dirt
Altitude max. 1000 m
HG-MR IP65
HG-KR IP65
HG-SR IP67
HG-JR53(4) to 903(4)
HG-JR11K1M(4) to 15K1M(4) IP67
HG-JR22K1M(4) IP44
Protective structure IP20 HG-RR IP65
HG-UR IP65
LM-F IP00
LM-U2 IP00
LM-H3 IP00
LM-K2 IP00
TM-RFM IP42
HG-MR X, Y: 49 m/s²
HG-KR X, Y: 49 m/s²
HG-SR51 to 81
X, Y: 24.5 m/s²
HG-SR52(4) to 152(4)
HG-SR121 to 201
X: 24.5 m/s², Y: 49 m/s²
HG-SR202(4) to 352(4)
HG-SR301 to 421
X: 24.5 m/s², Y: 29.4 m/s²
HG-SR502(4) to 702(4)
HG-JR53(4) to 503(4)
X, Y: 24.5 m/s²
HG-JR11K1M(4) to 22K1M(4)
Vibration max. 5.9 m/s²
HG-JR703(4) to903(4) X: 24.5 m/s², Y: 29.4 m/s²
HG-RR X, Y: 24.5 m/s²
HG-UR72 to 152 X, Y: 24.5 m/s²
HG-UR202 to 502 X: 24.5 m/s², Y: 49 m/s²
LM-F X, Y: 49 m/s²
LM-U2 X, Y: 49 m/s²
LM-H3 X, Y: 49 m/s²
LM-K2 X, Y: 49 m/s²
TM-RFM X, Y: 49 m/s²
Tab. 1-1: Environmental conditions

For some models the terminal block is excluded.

The shaft-through portion is excluded.

The shaft-through portion is excluded. For geared servo motor, IP rating of the reducer portion is
equivalent to IP44.
Connectors and gap between rotor and stator are excluded.
TM-RFM040J10, TM-RFM120J10, TM-RFM240J10: X, Y: 24.5 m/s²

Introduction Terminology
1.3 Terminology
The terms and abbreviations below are important for servo amplifiers and are used frequently in this
guide.
Direction of rotation of electric motors

The direction (or sense) of rotation of electric motors is defined looking at the end of the motor shaft.
If the motor has two shaft ends the direction is defined looking at the main drive shaft end, which is
defined as the shaft end away from the end where the cooling fan or the brake are installed.
● Forward
Counterclockwise (CCW)/ Left
● Reverse
Clockwise (CW)/ Right
Safety Function
The servo amplifier series MR-J4 supports the Safe Torque Off (STO) function described in IEC/EN
61800-5-2. STO is a stop function used to shut down energy to motors which exert torque. The servo
amplifier electronically cuts off the power output from the servo amplifier to the servo motor.
The purpose for this safety function is as follows.
– Uncontrolled stop according to stop category 0 of IEC 60204-1
– Designed to prevent unexpected start-up
Operating modes of the servo amplifier

The MR-J4-A servo amplifier can be set to different operating modes by parameter setting.
● Position control mode
An up to 4 Mpps high-speed pulse train is used to control the speed and direction of a motor and
execute precision positioning of 4,194,304 pulses/rev (22 bits) resolution.
A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor
in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This
torque limit value can be changed to any value with an external analog input or the parameter.
● Speed control mode
An external analog speed command (0–±10 V DC) or parameter-driven internal speed command
(max. 7 speeds) is used to control the speed and direction of a servo motor smoothly. There are
also the acceleration/deceleration time constant setting in response to speed command, the
servo lock function at a stop time, and automatic offset adjustment function in response to
external analog speed command.
● Torque control mode
An external analog torque command (0–±8 V DC) or parameter-driven internal torque command
is used to control the torque output by the servo motor.
To protect misoperation under no load, the speed limit function (external or internal setting) is
also available for application to tension control, etc.
● Positioning mode (only RJ type)
Automatic and manual positioning modes are supported by point table, program and indexer for
normal operation as well as for home position return. Home position return can be done by
different methods like dog type, count type, data set type, stopper type etc.
1-6
Terminology Introduction
Fully closed loop system

The MR-J4-B(-RJ)/A(-RJ) servo amplifier is compatible with fully closed loop control system. A load side
encoder can be used for reading a position feedback signal in order to realise full closed position feed-
back. By parameter setting different control modes can be selected.
Control mode Description

Semi closed loop control Position is controlled according to the servo motor-side data.
Dual feedback control Position is controlled according to the servo motor-side data and load-side data.
Fully closed loop control Position is controlled according to the load-side data.
Tab. 1-2: Control modes of the closed loop system

Introduction Terminology
1-8
Servo amplifier series MR-J4-A(-RJ) Introduction of the devices
2 Introduction of the devices

2.1 Servo amplifier series MR-J4-A(-RJ)
MR-J4-200A(-RJ) or less MR-J4-200A4(-RJ) or less MR-J4-350A(-RJ)
MR-J4-350A4(-RJ) MR-J4-500A(-RJ) MR-J4-500A4(-RJ)
MR-J4-700A(4)(-RJ) MR-J4-11KA(4)(-RJ)/15KA(4)(-RJ) MR-J4-22KA(4)(-RJ)
Geräteansicht MR-J4-A(4).eps
Fig. 2-1: Model overview of the servo amplifiers MR-J4-A(-RJ)
NOTE The MR-J4-A(4)-RJ servo amplifier has the CN2L connector.

Introduction of the devices Servo amplifier series MR-J4-B(-RJ)
2.2 Servo amplifier series MR-J4-B(-RJ)
MR-J4-200B(-RJ) or less MR-J4-200B4(-RJ) or less MR-J4-350B(-RJ)
MR-J4-350B4(-RJ) MR-J4-500B(-RJ) MR-J4-500B4(-RJ)
MR-J4-700B(4)(-RJ) MR-J4-11KB(4)(-RJ)/15KB(4)(-RJ) MR-J4-22KB(4)(-RJ)
Geräteansicht MR-J4-B(4).eps
Fig. 2-2: Model overview of the servo amplifiers MR-J4-B(-RJ)
NOTES The number “4” in the model designation of the servo amplifier indicates the version for 400 V. If
the number 4 is inside brackets, the model is also available in the version 200 V.
The MR-J4-B(4)-RJ servo amplifier has the CN2L connector.
2-2
Servo amplifier series MR-J4W-B Introduction of the devices
2.3 Servo amplifier series MR-J4W-B
MR-J4W2-B MR-J4W3-B
Geräteansicht MR-J4W.eps
Fig. 2-3: Model overview of the servo amplifiers MR-J4W-B

Introduction of the devices Model designation and output power
2.4 Model designation and output power
MR-J4- A -
MR-J4- B -
None Standard
-RJ Fully closed loop control four-wire type/load-side encoder A/B/Z-phase input
Series compatible
-PX Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor
as standard accessory.
-RZ Indicates a servo amplifier MR-J4-A-RJ or MR-J4-B-RJ of 11 kW to 22 kW that
does not use a regenerative resistor as standard accessory.
Code Power supply

200–240 V AC,
—
1-phase or 3-phase
4 380–480 V AC, 3-phase
A: General purpose interface

B: SSCNET III/H compatible
Rated Rated Rated

Code output Code output Code output
[kW] [kW] [kW]
10 0.1 100 1 11K 11
20 0.2 200 2 15K 15
40 0.4 350 3.5 22K 22
60 0.6 500 5
70 0.75 700 7
Fig. 2-4: Model designation and rated output of the servo amplifiers for one axis

Servo amplifiers up to MR-J4-70A or MR-J4-70B (included), can be connected 1-phase.
MR-J4W - B -
None Standard
-ED Without a dynamic brake
Series
B: SSCNET III/H compatible
Rated output Rated output

Code [kW] Code [kW]
A-axis B-axis A-axis B-axis C-axis
22 0.2 0.2 222 0.2 0.2 0.2
44 0.4 0.4 444 0.4 0.4 0.4
77 0.75 0.75
1010 1 1
Code Number of axes

W2 2
W3 3
Fig. 2-5: Model designation and rated output of the servo amplifiers for two or three axes
2-4
Combinations of servo amplifiers and servo motors Introduction of the devices
2.5 Combinations of servo amplifiers and servo motors

The following tables show the possible combinations between the servo amplifier series MR-J4-A(-RJ),
MR-J4-B(-RJ) and MR-J4W-B and the rotary motor, linear motors and direct drive motors.
2.5.1 200 V class

Servo amplifier Rotary motor Linear motor (primary side) Direct drive motor
HG-KR053,
MR-J4-10A(-RJ) HG-KR13,
— —
MR-J4-10B(-RJ) HG-MR053,
HG-MR13
MR-J4-20A(-RJ) HG-KR23, LM-U2PAB-05M-0SS0,
TM-RFM002C20
MR-J4-20B(-RJ) HG-MR23 LM-U2PBB-07M-1SS0
LM-H3P2A-07P-BSS0,
LM-H3P3A-12P-CSS0,
MR-J4-40A(-RJ) HG-KR43,
LM-K2P1A-01M-2SS1, TM-RFM004C20
MR-J4-40B(-RJ) HG-MR43
LM-U2PAD-10M-0SS0,
LM-U2PAF-15M-0SS0
HG-SR51,
MR-J4-60A(-RJ) TM-RFM006C20,
HG-SR52, LM-U2PBD-15M-1SS0
MR-J4-60B(-RJ) TM-RFM006E20
HG-JR53
LM-H3P3B-24P-CSS0,
HG-KR73,
LM-H3P3C-36P-CSS0, TM-RFM012E20,
MR-J4-70A(-RJ) HG-MR73,
LM-H3P7A-24P-ASS0, TM-RFM012G20,
MR-J4-70B(-RJ) HG-UR72,
LM-K2P2A-02M-1SS1, TM-RFM040J10
HG-JR73
LM-U2PBF-22M-1SS0
HG-SR81,
MR-J4-100A(-RJ) HG-SR102,
HG-JR103, — TM-RFM018E20
MR-J4-100B(-RJ)
HG-JR53
HG-SR121,
HG-SR201,
HG-SR152,
HG-SR202, LM-H3P3D-48P-CSS0,
HG-UR152, LM-H3P7B-48P-ASS0,
MR-J4-200A(-RJ) HG-RR103, LM-H3P7C-72P-ASS0,
—
MR-J4-200B(-RJ) HG-RR153, LM-FP2B-06M-1SS0,
HG-JR153, LM-K2P1C-03M-2SS1,
HG-JR203, LM-U2P2B-40M-2SS0
HG-JR73 ,
HG-JR103
HG-SR301,
HG-SR352,
HG-UR202, LM-H3P7D-96P-ASS0,
TM-RFM048G20,
MR-J4-350A(-RJ) HG-RR203, LM-K2P2C-07M-1SS1,
TM-RFM072G20,
MR-J4-350B(-RJ) HG-JR353, LM-K2P3C-14M-1SS1,
TM-RFM120J10
LM-U2P2C-60M-2SS0
HG-JR153 ,
HG-JR203
HG-SR421,
HG-SR502,
LM-FP2D-12M-1SS0,
HG-UR352,
LM-FP4B-12M-1SS0,
MR-J4-500A(-RJ) HG-UR502,
LM-K2P2E-12M-1SS1, TM-RFM240J10
MR-J4-500B(-RJ) HG-RR353,
LM-K2P3E-24M-1SS1,
HG-RR503,
LM-U2P2D-80M-2SS0
HG-JR503,
HG-JR353
HG-SR702,
MR-J4-700A(-RJ) HG-JR703, LM-FP2F-18M-1SS0,
—
MR-J4-700B(-RJ) LM-FP4D-24M-1SS0
HG-JR503
MR-J4-11KA(-RJ) HG-JR903,
LM-FP4F-36M-1SS0 —
MR-J4-11KB(-RJ) HG-JR11K1M
Tab. 2-1: Servo amplifier and motor combination for 200 V class (1)

When the maximum torque is 400 %

Introduction of the devices Combinations of servo amplifiers and servo motors
MR-J4-15KA(-RJ)
HG-JR15K1M LM-FP4H-48M-1SS0 —
MR-J4-15KB(-RJ)
MR-J4-22KA(-RJ)
HG-JR22K1M — —
MR-J4-22KB(-RJ)
HG-KR053,
HG-KR13,
MR-J4W2-22B HG-KR23, LM-U2PAB-05M-0SS0,
TM-RFM002C20
MR-J4W3-222B HG-MR053, LM-U2PBB-07M-1SS0
HG-MR13,
HG-MR23
HG-KR053,
LM-H3P2A-07P-BSS0,
HG-KR13,
LM-H3P3A-12P-CSS0,
HG-KR23,
LM-K2P1A-01M-2SS1,
MR-J4W2-44B HG-KR43, TM-RFM002C20,
LM-U2PAB-05M-0SS0,
MR-J4W3-444B HG-MR053, TM-RFM004C20
LM-U2PAD-10M-0SS0,
HG-MR13,
LM-U2PAF-15M-0SS0,
HG-MR23,
LM-U2PBB-07M-1SS0
HG-MR43
LM-H3P2A-07P-BSS0,
HG-KR43, LM-H3P3A-12P-CSS0,
HG-KR73, LM-H3P3B-24P-CSS0,
TM-RFM004C20,
HG-MR43, LM-H3P3C-36P-CSS0,
TM-RFM006C20,
HG-MR73, LM-H3P7A-24P-ASS0,
TM-RFM006E20,
MR-J4W2-77B HG-SR51, LM-K2P1A-01M-2SS1,
TM-RFM012E20,
HG-SR52, LM-K2P2A-02M-1SS1,
TM-RFM012G20,
HG-UR72, LM-U2PAD-10M-0SS0,
TM-RFM040J10
HG-JR53, LM-U2PAF-15M-0SS0,
HG-JR73 LM-U2PBD-15M-1SS0,
LM-U2PBF-22M-1SS0
HG-KR43,
HG-KR73, LM-H3P2A-07P-BSS0,
HG-MR43, LM-H3P3A-12P-CSS0,
HG-MR73, LM-H3P3B-24P-CSS0, TM-RFM004C20,
HG-SR51, LM-H3P3C-36P-CSS0, TM-RFM006C20,
HG-SR52, LM-H3P7A-24P-ASS0, TM-RFM006E20,
MR-J4W2-1010B HG-SR81, LM-K2P1A-01M-2SS1, TM-RFM012E20,
HG-SR102, LM-K2P2A-02M-1SS1, TM-RFM018E20,
HG-UR72, LM-U2PAD-10M-0SS0, TM-RFM012G20,
HG-JR73, LM-U2PAF-15M-0SS0, TM-RFM040J10
HG-JR103, LM-U2PBD-15M-1SS0,
LM-U2PBF-22M-1SS0
HG-JR53
Tab. 2-1: Servo amplifier and motor combination for 200 V class (2)

2-6
Combinations of servo amplifiers and servo motors Introduction of the devices
2.5.2 400 V class

MR-J4-60A4(-RJ) HG-SR524,
— —
MR-J4-60B4(-RJ) HG-JR534
HG-SR1024,
MR-J4-100A4(-RJ) HG-JR734,
HG-JR1034, — —
MR-J4-100B4(-RJ)
HG-JR534
HG-SR1524,
HG-SR2024,
MR-J4-200A4(-RJ) HG-JR1534,
HG-JR2034, — —
MR-J4-200B4(-RJ)
HG-JR734 ,
HG-JR1034
HG-SR3524,
MR-J4-350A4(-RJ) HG-JR3534,
— —
MR-J4-350B4(-RJ) HG-JR-1534 ,
HG-JR-2034
HG-SR5024,
MR-J4-500A4(-RJ) HG-JR5034, — —
MR-J4-500B4(-RJ)
HG-JR3534
HG-SR7024,
MR-J4-700A4(-RJ) HG-JR7034, — —
MR-J4-700B4(-RJ)
HG-JR5034
MR-J4-11KA4(-RJ) HG-JR9034,
— —
MR-J4-11KB4(-RJ) HG-JR11K1M4
MR-J4-15KA4(-RJ)
HG-JR15K1M4 — —
MR-J4-15KB4(-RJ)
MR-J4-22KA4(-RJ)
HG-JR22K1M4 LM-FP5H-60M-1SS0 —
MR-J4-22KB4(-RJ)
Tab. 2-2: Servo amplifier and motor combination for 400 V class


Introduction of the devices Removal and reinstallation of the front cover
2.6 Removal and reinstallation of the front cover

The following shows how to remove and reinstall the front cover of MR-J4-700A(-RJ)/B(-RJ) to MR-J4-
22KA(-RJ)/B(-RJ) and MR-J4-500A(-RJ)/B4(-RJ) to MR-J4-22KA(-RJ)/B4(-RJ) .
m
DANGER:
Before removing or reinstalling the front cover, make sure that the charge lamp is off more than
15 minutes after power off. Then, confirm that the voltage between P+ and N- is safe with a
voltage tester and others. Otherwise, you may get an electric shock. In addition, when confirm-
ing whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.
NOTE The MR-J4-A series will be used hereinafter as an example for the removal and attachment of the
front cover. The procedure for the MR-J4-B series is identical.
The figures below show the steps for removing (fig. 2-6 to fig. 2-8) and reinstalling (fig. 2-9 to fig. 2-11)
of the front cover for the servo amplifier MR-J4-700A.
2.6.1 Removal of the front cover

Hold the ends of lower side of the front cover with both hands.
Fig. 2-6:
Step : Removing the front cover
MR-J4-700A_Frontabdeckung entfernen_1.eps
2-8
Removal and reinstallation of the front cover Introduction of the devices
Pull up the cover, supporting at point .
Fig. 2-7:
Pull out the front cover to remove. Hold the ends of lower side of the front cover with both hands.
Fig. 2-8:

Introduction of the devices Removal and reinstallation of the front cover
2.6.2 Reinstallation of the front cover

Insert the front cover setting tabs into the sockets of the servo amplifier (2 places).
Fig. 2-9:
Step : Reinstalling the front cover
Front cover
setting tab
MR-J4-700A_Frontabdeckung anbringen_1.eps
Push down the cover, supporting at point .
Fig. 2-10:
2 - 10
Removal and reinstallation of the front cover Introduction of the devices
Press the cover against the terminal box until the setting tabs click.
Fig. 2-11:
Setting tab
NOTE The multi-axis servo amplifier MR-J4W-B has no front cover.
Beginners Manual Servo Amplifiers MELSERVO J4 2 - 11

Introduction of the devices Rating plate
2.7 Rating plate

The following shows two examples of the rating plate for explanation of each item.
NOTE Production year and month of the servo motor are indicated in a serial number on the rating plate.
The year and month are indicated by the last two digits of the year and one digit of the month
[1 to 9, X(10), Y(11), and Z(12)].
For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121"
2.7.1 MR-J4-A(-RJ) and MR-J4-B(-RJ)
AC SERVO
SER.S21001001 Serial number
MODEL MR-J4-10A Model
POWER : 100W Capacity
INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz Applicable power supply
OUTPUT: 3PH170V 0-360Hz 1.1A Rated output current
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300175 Standard, Manual number
Max. Surrounding Air Temp.: 55°C Ambient temperature
IP20 IP rating
KC certification number, the year and

TOKYO 100-8310, JAPAN MADE IN JAPAN month of manufacture
Country of origin
Typenschild MR-J4-10A.eps
Fig. 2-12: Rating plate MR-J4-10A
2.7.2 MR-J4W-B
AC SERVO
SER.S21001001 Serial number
MODEL MR-J4W3-222B Model
POWER : 200W×3 (A, B, C) Capacity
INPUT : 3AC/AC200-240V 4.3A/7.5A 50/60Hz Applicable power supply
OUTPUT: 3PH170V 0-360Hz 1.5A×3 (A, B, C) Rated output current
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300176 Standard, Manual number
Max. Surrounding Air Temp.: 55°C Ambient temperature
IP20 (Except for fan finger guard) IP rating
KC certification number, the year and

TOKYO 100-8310, JAPAN MADE IN JAPAN month of manufacture
Country of origin
Typenschild MR-J4W3-222B.eps
Fig. 2-13: Rating plate MR-J4W3-222B
2 - 12
Rotatory servo motors Introduction of the servo motors
3 Introduction of the servo motors

This chapter shows the various servo motors that are available for the servo amplifier series MR-J4-A,
MR-J4-B and MR-J4W-B.
The motors are classified into rotatory motors, linear motors and direct drive motors.
Refer to section 2.5. to get the recommended combinations of servo amplifiers and servo motors.
3.1 Rotatory servo motors

3.1.1 Model overview
Series HG-MR Series HG-KR Series HG-SR
Series HG-JR Series HG-RR Series HG-UR
Ansicht HG- .eps
Fig. 3-1: Rotatory servo motors

Introduction of the servo motors Rotatory servo motors
3.1.2 Rating plate

The rating plate of the servo motor HG-JR153 is shown below.
This rating plate is representative of all other servo motor models.
MITSUBISHI AC SERVO MOTOR

Model HG-JR153
Input power and insulation class INPUT 3AC 102V 11A CI. F
Rated output and mass OUTPUT 1.5kW 5.9kg
Rated speed 3000r/min (200Hz)
Serial number SER. TI0001234 12X QR code
MITSUBISHI ELECTRIC
Country of origin MADE IN JAPAN
Typenschild HG-JR153.eps
Fig. 3-2: Rating plate HG-JR153

Production year and month of the servo motor are indicated in a serial number on the rating
plate.
[1 to 9, X(10), Y(11), and Z(12)].
For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121".

Products approved by Certification Bodies are marked. The marks depends on the Certification
Bodies.
NOTE All rotary servo motors meet the standards CE, UL and CSA.
3-2
3.1.3 Servo motor series HG-MR and HG-KR
● Model HG-MR – Ultra-low inertia/small capacity

Small motor inertia moment makes this unit well suited for high-dynamic positioning operations
with extra small cycle times.
Application example
– Inserters, mounters, bonders
– Printed board hole openers
– In-circuit testers
– Label printers
– Knitting and embroidery machinery
– Ultra-small robots and robot tips
● Model HG-KR – Low inertia/small capacity

Larger motor inertia moment makes this unit well suited for machines with fluctuating load inertia
moment or machines with low rigidity such as conveyors.
Application example
– Conveyors
– Food preparation machinery
– Printers
– Small loaders and unloaders
– Small robots and component assembly devices
– Small X-Y tables
– Small press feeders

Model designation
HG-MR 3
Electromagnetic
Code
brake
— —
B ✔
Code Rated speed [1/min]

3 3000
Code Rated output [W]

05 50
1 100
2 200
4 400
7 750
Series name Feature

HG-MR Ultra-Low inertia/Small capacity
HG-KR Low inertia/Small capacity
Fig. 3-3: Model designation of the servo motor series HG-MR and HG-KR
Encoder connector Brake connector Power connector
Zeichnung HG-MR_KR23B.eps
Fig. 3-4: Servo motor series HG-MR and HG-KR
NOTE Servo motors without electromagnetic brake have no brake connector.
3-4
3.1.4 Servo motor series HG-SR

Model HG-SR – Medium inertia/medium capacity
Stable control is performed from low to high speeds, enabling this unit to handle a wide range of
applications (e.g. direct connection to ball screw components).
Application example
– Conveyor machinery
– Specialised machinery
– Robots
– Loaders and unloaders
– Winders and tension devices
– Turrets
– X-Y tables
– Test devices
Model designation
HG-SR
Electromagnetic
Series name Code
brake
HG-SR — —
B ✔
Code Voltage [V]

— 200–240 V AC, 3-phase
4 380–480 V AC, 3-phase

1 1000
2 2000
1000 2000
[1/min] [1/min]
5 500 ✔ ✔
8 850 ✔ —
10 1000 — ✔
12 1200 ✔ —
15 1500 — ✔
20 2000 ✔ ✔
30 3000 ✔ —
35 3500 — ✔
42 4200 ✔ —
50 5000 — ✔
70 7000 — ✔
Fig. 3-5: Model designation of servo motors series HG-SR


Zeichnung HG-SR502B.eps
Fig. 3-6: Servo motor series HG-SR
3-6
3.1.5 Servo motor series HG-JR

Model HG-JR – Low inertia/medium capacity
This medium/large capacity, low inertia servo motor is suitable for high-throughput and high-accel-
eration/deceleration operations.
Application example
– Packaging machines
– Printing machines
– Palletizing machines
– Press machines
– Injection moulding machines
Model designation
HG-JR
Electromagnetic
Series name Code
brake
HG-JR — —
B ✔
Code Voltage [V]

— 200–240 V AC, 3-phase
4 380–480 V AC, 3-phase

1M 1500
3 3000

5 500
7 750
10 1000
15 1500
20 2000
35 3500
50 5000
70 7000
90 9000
11K 11000
15K 15000
22K 22000
Fig. 3-7: Model designation of servo motors series HG-JR


Zeichnung HG-JR153B.eps
Fig. 3-8: Servo motor series HG-JR
3-8
3.1.6 Servo motor series HG-RR

Model HG-RR – Ultra-low inertia/medium capacity
This medium capacity, ultra-low inertia servo motor is perfect for high-throughput operations.
Application example
– Ultra-high-throughput machines
– Cutter
– high-frequency conveyor machines
Model designation
HG-RR 3
Electromagnetic
Series name Code
brake
HG-RR — —
B ✔

3 3000

10 1000
15 1500
20 2000
35 3500
50 5000
Fig. 3-9: Model designation of servo motors series HG-RR

Encoder connector Power connector

Zeichnung HG-RR153B.eps
Fig. 3-10: Servo motor series HG-RR

The brake connector is combined with the power connector.
3 - 10
3.1.7 Servo motor series HG-UR

Model HG-UR – Flat type/medium capacity
This medium capacity, flat type servo motor is well suited for situations where the installation space
is limited.
Application example
– Robots
– Material handling
– Food processing machines
Model designation
HG-UR 2
Electromagnetic
Series name Code
brake
HG-UR — —
B ✔

2 2000

7 750
15 1500
20 2000
35 3500
50 5000
Fig. 3-11: Model designation of servo motors series HG-UR


Zeichnung HG-UR352B.eps
Fig. 3-12: Servo motor series HG-UR
3 - 12
Linear servo motors Introduction of the servo motors
3.2 Linear servo motors

Series LM-H3 Series LM-U2
Series LM-F Series LM-K2
Ansicht LM- .eps
Fig. 3-13: Linear servo motors
3.2.2 Rating plate (primary side – coil)

The rating plate of the linear servo motor LM-H3P3A-12P-CSS0 is shown below.
This rating plate is representative of all other linear motor models.
MITSUBISHI
ELECTRIC LINEAR SERVO MOTOR Two dimen-
sional code
Model, insulation class LM-H3P3A-12P-CSS0 F class
Continuous thrust, maximum speed, 120N 3.0 m/s 0-63Hz
frequency
INPUT 3AC 170V (230V) 1.7A
Serial number SER. A12345001 121 MADE IN JAPAN
Over Voltage Cat. (Supply Power System TN-C TN-S)
MITSUBISHI ELECTRIC CORPORATION
Typenschild LM-H3P3A-12P-CSS0.eps
Fig. 3-14: Rating plate LM-H3P3A-12P-CSS0

Production year and month of the primary side of linear servo motor are indicated in a serial
number on the rating plate.
[1 to 9, X(10), Y(11), and Z(12)].
NOTE All linear servo motors meet the standards CE, UL and CSA.

Introduction of the servo motors Linear servo motors
3.2.3 Servo motor series LM-H3

The core type linear servo motor LM-H3 is suitable for space-saving, high speed and high accelera-
tion/ deceleration.
Application example
– Mounting systems
– Material handlings
– High speed linear transportation systems
Model designation
LM-H3P - P -
Series name Code Linear servo motor model
LM-H3 BSS0 LM-H3P2A-07P
LM-H3P3A-12P
Code Side
LM-H3P3B-24P
P Primary side (coil) CSS0
LM-H3P3C-36P
LM-H3P3D-48P
Width [mm]
Code LM-H3P7A-24P
(nominal dimensions)
2 50 LM-H3P7B-48P
ASS0
3 65 LM-H3P7C-72P
7 100 LM-H3P7D-96P
Length [mm] Code Maximum speed [m/s]

Code
(nominal dimensions) P 3.0
A 128
B 224 Code Continuous thrust [N]
C 320 07 70
D 416 12 120
24 240
36 360
48 480
72 720
96 960
Fig. 3-15: Model designation of servo motors series LM-H3 (Primary side – coil)
Power lead wire
Thermistor lead wire
Zeichnung LM-H3P3B-24P-CSS0.eps
Fig. 3-16: Servo motor series LM-H3 (Primary side – coil)
3 - 14
3.2.4 Servo motor series LM-U2

The characteristics of the linear servo motor LM-U2 are no cogging and a small speed fluctuation. Due
to the missing magnetic attraction force the life time of the linear guides is longer.
Application example
– Inspection systems
– Scanning exposure systems
– Screen printing systems
Model designation
LM-U2P - M -
LM-U2 LM-U2PAB-05M
0SS0 LM-U2PAD-10M
Code Side LM-U2PAF-15M
P Primary side (coil) LM-U2PBB-07M
1SS0 LM-U2PBD-15M
Width [mm]
Code LM-U2PBF-22M
A 66.5
Code Maximum speed [m/s]
B 86.5
M 2.0
Length [mm]
Code Code Continuous thrust [N]
B 130 05 50
D 250 07 75
F 370 10 100
15 150
22 225
Fig. 3-17: Model designation of servo motors series LM-U2 (Primary side – coil)
Medium thrust series
LM-U2P2 - M - 2SS0
Series name
LM-U2
Code Side Code Maximum speed [m/s]

P Primary side (coil) M 2.0
Length [mm] Code Continuous thrust [N]

Code
40 400
B 286 60 600
C 406 80 800
D 526
Fig. 3-18: Model designation of servo motors series LM-U2 (Primary side – coil)
Large thrust series

Power lead wire
Zeichnung LM-U2P2B-40M-2SS0.eps
Fig. 3-19: Servo motor series LM-U2 (Primary side – coil)
3 - 16
3.2.5 Servo motor series LM-F

The linear servo motor LM-F has a compact core and the integrated liquid-cooling system doubles the
continuous thrust.
Application example
– NC machine tools
– Press feeders
Model designation
LM-F P - M - 1SS0
Series name
LM-F
Code Side Code Maximum speed [m/s]

P Primary side (coil) M 2.0
Width [mm] Continuous thrust [N]

Code
(nominal dimensions) Code Natural Liquid
2 120 cooling cooling
4 200 06 300 600
12 600 1200
Length [mm]
Code 18 900 1800
24 1200 2400
B 290
36 1800 3600
D 530
48 2400 4800
F 770
60 3000 6000
H 1010
Fig. 3-20: Model designation of servo motors series LM-F (Primary side – coil)

Power lead wire
Zeichnung LM-FP2D-12M-1SS0.eps
Fig. 3-21: Servo motor series LM-F (Primary side – coil)

3.2.6 Servo motor series LM-K2

Due to the magnetic attraction counter-force structure the servo motor LM-K2 has a longer life of the
linear guides. During operation the audible noise is low.
Application example
– Mounting systems
– Assembly systems
Model designation
LM-K2 P - M -
LM-K2 LM-K2P1A-01M
2SS1
LM-K2P1C-03M
Code Side LM-K2P2A-02M
P Primary side (coil) LM-K2P2C-07M
1SS1 LM-K2P2E-12M
Height [mm]
Code LM-K2P3C-14M
1 54 LM-K2P3E-24M
2 74.5
Code Maximum speed [m/s]
3 114.5
M 2.0
Length [mm]
Code Code Continuous thrust [N]
A 138 01 120
C 330 02 240
E 522 03 360
07 720
12 1200
14 1440
24 2400
Fig. 3-22: Model designation of servo motors series LM-K2 (Primary side – coil)
Power lead wire

PVC
Zeichnung LM-K2P1C-03M-2SS1.eps
Fig. 3-23: Servo motor series LM-K2 (Primary side – coil)
3 - 18
Direct drive servo motors Introduction of the servo motors
3.3 Direct drive servo motors

Series TF-RFM
Ansicht TF-RFM.eps
Fig. 3-24: Direct drive servo motor
3.3.2 Rating plate (primary side – coil)

The rating plate of the direct drive servo motor TM-RFM002C20 is shown below.
This rating plate is representative of all other direct drive motor models.
AC DIRECT DRIVE MOTOR Model

TM-RFM002C20
Input power
INPUT 3AC 45.7V 1.2A
TORQUE 2Nm Rated output
200r/min IP42CI.F 5.2kg Rated speed, IP rating, insulation class
SER.No. 000000 121 and mass
Serial number
Typenschild TM-RFM002C20.eps
Fig. 3-25: Rating plate TM-RFM002C20

Production year and month of the direct drive motor are indicated in a serial number on the rat-
ing plate.
[1 to 9, X(10), Y(11), and Z(12)].
NOTE All direct drive servo motors meet the standard CE.

Introduction of the servo motors Direct drive servo motors
3.3.3 Servo motor series TF-RFM

The magnetic design and winding technology of the servo motor TF-RFM enables high torque den-
sity. In addition, extremely smooth rotation is achieved by minimizing the torque ripple. The motor is
suitable for low-speed and high-torque operations. High-accuracy positioning is achieved because
the motor is directly connected to the driving part. The servo motor is equipped with a 20-bit high-res-
olution absolute position encoder (1 048 576 pulses/rev) as standard.
Application example
– Index table for machine tools
– Rotary axis for material handling robots
– Painting and vapour deposition systems
– LCD/semiconductor spin-type cleaning systems
– LCD/semiconductor testing systems (XY-tables)
– Rotary axis for polishing systems
Model designation
TM-RFM
Series name
TM-RFM
Code Rated torque [Nm] Code Rated speed [1/min]

002 2 10 100
004 4 20 200
006 6
012 12 Motor OD (Frame OD)
Code
Dimensions [mm]
018 18
C Ø 130
040 40
E Ø 180
048 48
G Ø 230
072 72
J Ø 330
120 120
240 240
Fig. 3-26: Model designation of servo motors series TM-RFM
Encoder connector
Power supply connector
Zeichnung TM-RFM006C20.eps
Fig. 3-27: Servo motor series TM-RFM
3 - 20
Wiring of power supply, motor and PE terminal Installation and wiring
4 Installation and wiring
m
DANGER:
Before starting wiring, switch power off, then wait for more than 15 minutes, and after the charge
lamp has gone off, make sure that the voltage is safe with a tester or like. Otherwise, you may
get an electric shock.
4.1 Wiring of power supply, motor and PE terminal

The power supply of some models of the servo amplifier series MR-J4 can either be 1-phase or 3-phase
AC voltage (200 V class), while others can only be powered by 3-phase power supply (200 V/400 V
class).
Power supply of MR-J4-10A(-RJ)/B(-RJ) to MR-J4-70A(-RJ)/B(-RJ)
Item 1-phase 3-phase

Main circuit power supply L1, L3 L1, L2, L3
Control circuit power supply L11, L21
Voltage 200–240 V AC
Permissible voltage fluctuation 170–264 V AC
Frequency 50 Hz/60 Hz ±5%
Power supply of MR-J4-100A(-RJ)/B(-RJ) to MR-J4-22KA(-RJ)/B(-RJ)
Item 3-phase
Main circuit power supply L1, L2, L3
Frequency 50 Hz/60 Hz ±5 %
Power supply of MR-J4-60A4(-RJ)/B4(-RJ), MR-J4-100A4(-RJ)/B4(-RJ) to MR-J4-22KA4(-RJ)/B4(-RJ)
Item 3-phase

The power supply of the control circuit is connected to L11 and L21. For 3-phase connection of
the main circuit power supply L11 should be in phase with L1 and L21 in phase with L2, for 1-
phase connection L11 should be in phase with L1 and L21 in phase with L3.

It is not possible, to connect these models only to one phase.

Installation and wiring Wiring of power supply, motor and PE terminal
Power supply of MR-J4W2-22B to MR-J4W2-77B, MR-J4W3-222B and MR-J4W3-444B
Item 1-phase 3-phase

Main circuit power supply L1, L3 L1, L2, L3
Frequency 50 Hz/60 Hz ±5%
Power supply of MR-J4W2-1010B
Item 3-phase

The power supply of the control circuit is connected to L11 and L21. For 3-phase connection of
the main circuit power supply L11 should be in phase with L1 and L21 in phase with L2, for 1-
phase connection L11 should be in phase with L1 and L21 in phase with L3.

It is not possible, to connect these models only to one phase.
The power supply with 1-phase is connected to the terminals L1 and L3, with 3-phase to terminals L1,
L2 and L3.
The motor is connected to terminals U, V and W.
Additionally the servo amplifier must be grounded via the PE terminal (Protective Earth).
NOTE Even if the servo amplifiers is supplied with an 1-phase AC voltage of 200 to 240 V the servo motor
is connected in the same way to the output of the servo amplifier as with a 3-phase power supply.
The power supply from the servo amplifier to the servo motor is always 3 phase.
b
WARNING:
● Do not connect AC power supply directly to the output terminals U, V and W of the servo
amplifier. Permanent damage of the servo amplifier as well as an immediate danger to the
operator would be the consequence.
● Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting
destinations is different from MR-J3 Series Servo Amplifier's. When using MR-J4 as a replace-
ment for MR-J3, be careful not to connect the power to L2.
4-2
Wiring of power supply, motor and PE terminal Installation and wiring

MCCB MC CNP1
1-phase L1
power CNP3
supply L2 U U
L3 V V
M
N- W W
P3
P4
CNP2
P+
C
D

CN2 Encoder
L11
L21
MR-J4 Spannungsversorgung 1-phasig.eps
Fig. 4-1: Wiring of the power inputs and outputs of the servo amplifier (1-phase power supply)

MCCB MC CNP1
3-phase L1
power CNP3
supply L2 U U
L3 V V
M
N- W W
P3
P4
CNP2
P+
C
D
CN2 Encoder
L11
L21
MR-J4 Spannungsversorgung 3-phasig.eps
Fig. 4-2: Wiring of the power inputs and outputs of the servo amplifier (3-phase power supply)

MCCB = Molded-case circuit breaker
MC = Magnetic contactor

The MR-J4 2-axis servo amplifier (MR-J4W2-B) has two motor outputs (CNP3A, CNP3B) and two
encoder inputs (CN2A, CN2B). The MR-J4 3-axis servo amplifier (MR-J4W3-B) has three motor out-
puts (CNP3A, CNP3B, CNP3C) and three encoder inputs (CN2A, CN2B, CN2C).

Installation and wiring Wiring of power supply, motor and PE terminal
Abbreviation Terminals Description

Main circuit power supply
L1, L3
(1-phase)
Power supply of the servo amplifier (main circuit)
Main circuit power supply
L1, L2, L3
(3-phase)
U, V, W Servo motor power output Voltage output of the servo amplifier
L11, L21 Control circuit power supply Power supply of the control circuit
Terminals P+ and –D are wired by default. When using
regenerative option, disconnect the P+ and D terminals
P+, C, D Regenerative option
and connect the regenerative option to P+ terminal and C
terminal.
When not using the power factor improving DC reactor,
connect P3 and P4. (factory-wired). When using the power
P3, P4 Power factor improving DC reactor factor improving DC reactor, disconnect P3 and P4, and
connect the power factor improving DC reactor to P3 and
P4.
Power regeneration converter
Power regeneration common This terminal is used for a power regeneration converter,
N–
converter power regeneration common converter and brake unit.
Brake unit
Connect it to the grounding terminal of the servo motor
Protective earth (PE) and to the protective earth (PE) of the cabinet for
grounding.
Tab. 4-1: Power terminals of the servo amplifier
NOTE Please refer to the respective instruction manual of the servo amplifier series MR-J4-A, MR-J4-B
MR-J4W2-B and MR-J4W3-B for details about different terminal designations of specific servo
amplifier models.
4-4
Connectors and signal arrangements Installation and wiring
4.2 Connectors and signal arrangements

Apart from the terminals of the power unit for supply voltage and motor, a servo amplifier is equipped
with even more terminals for controlling the servo amplifier. These additional terminals are used for
the safety function (STO), to connect an optional PC, to connect an optional battery and for monitor-
ing, diagnosis and so on.
4.2.1 Servo amplifier series MR-J4-A

The shown front view is that of the servo amplifier MR-J4-20A-RJ or less. For all models of the MR-J4-
A series the terminal configuration is the same.
CN5 CN6 (Analog monitor outputs)

(USB connector)
3
MO1
2
MO2
1
LG
CN3 (RS-422
connector) CN1
CN8 (STO I/O
signal connector)
1 26
2 27
3 28
CN2 4 29
5 30
2 6 10 6 31
LG 4 THM2 8
MRR MXR 7 32
1 5 9 8 33
P5 3 THM1 7 BAT
MR MX 9 34
10 35
11 36
12 37
13 38
CN2L 14 39
15 40
2 6 10 CN4 16 41
LG 4 8 (Battery connector)
MRR2 MXR2 17 42
1 5 9 18 43
The frames of the CN1
P5 3 7 BAT connectors are con- 19 44
MR2 MX2
nected to the protective 20 45
(for using serial encoder) earth terminal in the
21 46
servo amplifier.
CN2L 22 47
23 48
2 6 10 24 49
LG 4 PBR 8 PSEL
PAR PZR 25 50
1 5 9
P5 3 PB 7
PA PZ
(for using A/B/Z-phase pulse encoder)

MR-J4-A Signalstecker.eps
Fig. 4-3: MR-J4-A signal arrangement

The MR-J4-A(4)-RJ servo amplifiers have CN2L connectors.

Installation and wiring Connectors and signal arrangements
Signal assignment
Connector Name Description

CN1 I/O devices Control interface (see tab. 4-3)
CN2 Connector for the servo motor encoder
Encoder connector Connector for external encoder
CN2L
(Serial encoder or A/B/Z-phase pulse encoder)
CN3 Communication (RS-422) Connector for a personal computer (PC)
For connecting the battery (MR-BAT6V1SET) to store the
data of the absolute position detection (observe the fol-
lowing note).
When you want to connect the battery, disconnect the
CN4 Battery terminal power supply of the main circuit and wait for more than
15 minutes, after the charge lamp has gone off. When
replacing the battery, leave the power supply of the con-
trol circuit on and disconnect only the supply voltage of
the main circuit. Otherwise, the absolute position data will
be lost.
CN5 Communication (USB) Connector for a personal computer (PC)
This is used to output data selected by parameters as an
CN6 Analog monitor outputs
analog voltage for measuring instruments or the like.
CN8 STO connector Connector for safety function (Safe Torque Off )
Tab. 4-2: Description of CN1, CN2, CN2L, CN3, CN4, CN5, CN6 and CN8

The MR-J4-A(4)-RJ servo amplifiers have CN2L connectors.
NOTE The MR-BAT6V1BJ battery for junction battery cable is only for the HG series servo motors. It can-
not be used with direct drive motors. Do not use the MR-BAT6V1BJ battery for junction battery
cable in the fully closed loop system.
The device assignment of the CN1 connector pins changes depending on the control mode. For the
pins which are given parameters in the related parameter column, their devices will be changed using
those parameters.
Pin Signal I/O signals in control modes

Pr.
No. I/O P P/S S S/T T T/P
1 — P15R P15R P15R P15R P15R P15R —
2 I — —/VC VC VC/VLA VLA VLA/— —
3 — LG LG LG LG LG LG —
4 O LA LA LA LA LA LA —
5 O LAR LAR LAR LAR LAR LAR —
6 O LB LB LB LB LB LB —
7 O LBR LBR LBR LBR LBR LBR —
8 O LZ LZ LZ LZ LZ LZ —
9 O LZR LZR LZR LZR LZR LZR —
10 I PP PP/— — — — —/PP —
11 I PG PG/— — — — —/PG —
12 — OPC OPC/— — — — —/OPC —
13 — — — — — — — —
14 — — — — — — — —
15 I SON SON SON SON SON SON PD03/PD04
16 I — —/SP2 SP2 SP2/SP2 SP2 SP2/— PD05/PD06
Tab. 4-3: Signal arrangement of CN1 in MR-J4-A (1)
4-6

Pr.
No. I/O P P/S S S/T T T/P
17 I PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC PD07/PD08
18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL PD09/PD10
19 I RES RES RES RES RES RES PD11/PD12
20 — DICOM DICOM DICOM DICOM DICOM DICOM —
21 — DICOM DICOM DICOM DICOM DICOM DICOM —
22 O INP INP/SA SA SA/— — —/INP PD23
23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24
24 O INP INP/SA SA SA/— — —/INP PD25
25 O TLC TLC TLC TLC/VLC VLC VLC/TLC PD26
26 — — — — — — — —
27 I TLA TLA TLA TLA/TC TC TC/TLA —
29 — — — — — — — —
31 — — — — — — — —
32 — — — — — — — —
33 O OP OP OP OP OP OP —
35 I NP NP/— — — — —/NP —
36 I NG NG/— — — — —/NG —
37 — — — — — — — —
38 — — — — — — — —
39 — — — — — — — —
40 — — — — — — — —
41 I CR CR/SP1 SP1 SP1/SP1 SP1 SP1/CR PD13/PD14
42 I EM2 EM2 EM2 EM2 EM2 EM2 —
43 I LSP LSP LSP LSP/— — —/LSP PD17/PD18
44 I LSN LSN LSN LSN/— — —/LSN PD19/PD20
45 I LOP LOP LOP LOP LOP LOP PD21/PD22
46 — DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM —
47 — DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM —
48 O ALM ALM ALM ALM ALM ALM —
49 O RD RD RD RD RD RD PD28
50 — — — — — — — —
Tab. 4-3: Signal arrangement of CN1 in MR-J4-A (2)

I: Input signal, O: Output signal

P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed
control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control
change mode

TLA will be available when TL (External torque limit selection) is enabled with parameters PD03
to PD22.


Pr.
No. I/O CP CL PS
1 — P15R P15R P15R —
2 I VC VC VC —
3 — LG LG LG —
4 O LA LA LA —
5 O LAR LAR LAR —
6 O LB LB LB —
7 O LBR LBR LBR —
8 O LZ LZ LZ —
9 O LZR LZR LZR —
10 I DI2 DI2 DI2 PD44
11 I PG PG PG —
12 — OPC OPC OPC —
13 O PD47
14 O PD47
15 I SON SON SON PD04
16 I MD0 MD0 MD0 PD06
17 I ST1 ST1 ST1 PD08
18 I ST2 ST2 MD1 PD10
20 — DICOM DICOM DICOM —
21 — DICOM DICOM DICOM —
22 O CPO CPO CPO PD23
23 O ZP ZP ZP PD24
24 O INP INP INP PD25
25 O MEND MEND MEND PD26
26 — — — — —

27 I TLA TLA TLA —
28 — LG LG LG —
29 — — — — —
30 — LG LG LG —
31 — — — — —
32 — — — — —
33 O OP OP OP —
34 — LG LG LG —
36 I NG NG NG —
37 — — — — —
38 — — — — —
39 — — — — —
40 — — — — —
42 I EM2 EM2 EM2 —
43 I LSP LSP LSP PD18
44 I LSN LSN LSN PD20
45 I DOG DOG SIG PD22
46 — DOCOM DOCOM DOCOM —
Tab. 4-4: Signal arrangement of CN1 in MR-J4-A-RJ (1)
4-8

Pr.
No. I/O CP CL PS
47 — DOCOM DOCOM DOCOM —
48 O ALM ALM ALM —
49 O RD RD RD PD28
50 — — — — —
Tab. 4-4: Signal arrangement of CN1 in MR-J4-A-RJ (2)

I: input signal, O: output signal

CP: Positioning mode (point table method)
CL: Positioning mode (program method)
PS: Positioning mode (indexer method)

TLA will be available when TL (External torque limit selection) is enabled with parameters PD04,
PD06, PD08, PD10, PD12, PD14, PD18, PD20, PD22, PD44, and PD46.
Assign any device with Parameter PD47.
Assign MD1 with Parameter PD10.
Assign the following output devices to CN1-22, CN1-23, and CN1-25 pins with parameters PD23,
PD24, and PD26.
CN1-22: CPO (Rough match)
CN1-23: ZP (Home position return completion)
CN1-25: MEND (Travel completion)

Meaning of the symbols

The most important signals are explained in the table below. You will find detailed information about
all signals in the instruction manual of the respective servo amplifier.
Signal Symbol Name Description

RES Reset Turn RES on for more than 50 ms to reset the alarm.
Forward rotation To start the Servo motor in both directions of rotation both inputs
LSP
stroke end must be switched on. Turn it off to bring the motor to a sudden stop
and make it servo-locked. If one input switches off because the limit
Reverse rotation switch has been reached, rotary movement is possible only in the
LSN
stroke end opposite direction of the activated limit switch.
Turn SON on to power on the main circuit and make the servo ampli-
SON Servo-on
fier ready to operate (servo-on).
If terminal ST1 is switched on, the motor If both ST1 and ST2 are
ST1 Forward rotation start switched on or off dur-
turns in counter-clockwise rotation.
ing operation, the
servo motor will be
If terminal ST2 is switched on, the motor decelerated to a stop
ST2 Reverse rotation start
turns in clockwise rotation.
Signal inputs
(servo-lock).
Turn off EM2 (open between commons) to decelerate the servo
motor to a stop with commands.
EM2 Forced stop 2
Turn EM2 on (short between commons) in the forced stop state to
reset that state.
Operation mode Point table method/program method
MD0
selection 1 Turning on MD0 will be automatic operation mode, off will be
Control terminals
manual operation mode. Changing an operation mode during

operation will clear the command remaining distance and the
motor will decelerate to stop. MD1 cannot be used.
Operation mode Indexer method
MD1 Select an operation mode with combinations of MD0 and MD1
selection 2
(refer to the instruction manual). Changing an operation mode
during operation will clear the command remaining distance and
the motor will decelerate to stop.
Turning off DOG will detect a proximity dog. The polarity for dog
DOG Proximity dog
detection can be changed with Parameter PT29.
When an alarm occurs, ALM will turn off. When an alarm does not
ALM Alarm
occur, ALM will turn on after 2.5 s to 3.5 s after power-on.
RD turns on when the servo is switched on and the servo amplifier is
RD Ready
ready to operate.
INP turns on when the number of droop pulses is in the preset in-
Signal outputs
INP In position
position range. INP turns on when servo-on turns on.
When warning has occurred, WNG turns on. When a warning is not
WNG Warning
occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s.
ACD0 The alarm code is output as a 3-Bit signal depending on the alarm
ACD1 Alarm code that occurs. The output of the alarm code has to be activated by
ACD2 parameter PD34.
When the droop pulses are within the in-position output range set
MEND Travel completion with Parameter PA10 and the command remaining distance is “0”,
MEND will be on.
Tab. 4-5: Selection of the most important input and output signals of CN1 (1)
4 - 10

Used to control torque in the full servo motor output torque range.
Analog torque
TC Apply 0 to ±8 V DC across TC–LG. Maximum torque is generated at
command
±8 V. The speed at ±8 V can be changed with Parameter PC13.
Command inputs
Analog speed Apply 0 to ±10 V DC across VC–LG. Speed set in parameter PC12 is
Analog terminals command provided at ±10 V.
VC The signal controls the servo motor setting speed by applying –10 V
to +10V to between VC and LG. The percentage will be 0% with –10 V,
Analog override 100% with 0 V, and 200% with +10 V to the setting speed of the servo
motor. Resolution: 14 bits or equivalent
Setting of speed limit in torque control mode by applying 0 to +10 V.
VLA Analog speed limit
The maximum speed set in parameter PC12 is output at +10 V.
Analog output
Used to output the data set in parameter

MO1 Analog monitor 1
PC14 to across MO1–LG in terms of voltage.
Resolution: 10 bits or
equivalent
Used to output the data set in parameter No.
Input 24 V DC (± 10 %, For sink interface, connect + of 24 V DC external power supply.

DICOM
500 mA) to I/O interface For source interface, connect – of 24 V DC external power supply.
Common
Common terminal of For sink interface, connect – of 24 V DC external power supply.

Power supply
input signal such as EM2

DOCOM
of the servo amplifier.
This is separated from LG. For source interface, connect + of 24 V DC external power supply.
LG This is a common terminal for TLA, TC, VC, VLA, FPA, FPB, OP, MO1, MO2, and P15R
This outputs 15 V DC to between P15R and LG. This is available as power for TC, TLA, VC, or VLA.
P15R
Permissible current: 30 mA
SD Shielding, housing
Tab. 4-5: Selection of the most important input and output signals of CN1 (2)

Only for MR-J4-A

Only for MR-J4-A-RJ

4.2.2 Servo amplifier series MR-J4-B

The shown front view is that of servo amplifier MR-J4-20B-RJ or less. The terminal configuration is the
same for all models of the MR-J4-B series.
CN5
(USB connector) CN3
1 11
2 12
LG LG
CN8 (STO I/O
signal connector) DI1 DI2
3 13
4 14
DOCOM MBR
MO1 MO2
5 15
6 16
CN1A DICOM ALM
Connector for SSCNET III LA LAR
CN2 7 17
cable for previous servo
amplifier axis 8 18
LB LBR
2 6 10
LG 4 THM2 8 CN1B LZ LZR
9 19
MRR MXR
Connector for SSCNET III 10 20
1 5 9 cable for next servo INP DI3
P5 3 THM1 7 BAT
MR MX
amplifier axis DICOM EM2
The frames of the CN2 and CN3 CN4

connectors are connected to (Battery connector)
the protective earth terminal in
the servo amplifier.
CN2L CN2L
2 6 10 2 6 10
LG 4 8 LG 4 PBR 8 PSEL
MRR2 MXR2 PAR PZR
1 5 9 1 5 9
P5 3 7 BAT P5 3 PB 7
MR2 MX2 PA PZ
(for using serial encoder) (for using A/B/Z-phase pulse encoder)

MR-J4-B Signalstecker.eps
Fig. 4-4: MR-J4-B signal arrangement
The MR-J4-B(4)-RJ servo amplifiers have CN2L connectors.
4 - 12
Signal assignment

Connector for SSCNET III cable for previ- Used for connection with the controller or the servo
CN1A
ous servo amplifier axis amplifier of the previous axis.
Connector for SSCNET III cable for next Used for connection with the servo amplifier of the next
CN1B
servo amplifier axis axis. Put a cap on the CN1B connector of the final axis.
CN2 Connector for the servo motor encoder
Encoder connector Connector for external encoder
CN2L
(Serial encoder or A/B/Z-phase pulse encoder)
For connecting the battery (MR-BAT6V1SET) to store the
data of the absolute position detection (observe the fol-
lowing note).
be lost.
Tab. 4-6: Description of CN1A, CN1B, CN2, CN2L, CN3, CN4, CN5 and CN8

The MR-J4-B(4)-RJ servo amplifiers have CN2L connectors.
NOTE The MR-BAT6V1BJ battery for junction battery cable is only for the HG series servo motors. It can-
not be used with direct drive motors. Do not use the MR-BAT6V1BJ battery for junction battery
cable in the fully closed loop system and scale measurement function.
Signal arrangement of CN3
Symbol of Symbol of
Pin No. Signal I/O Pin No. Signal I/O
I/O signal I/O signal
1 — LG 11 — LG
2 I DI1 12 I DI2
Assignment with
3 — DOCOM 13 O
parameter PD07
4 — MO1 14 — MO2
Assignment with
5 — DICOM 15 O
parameter PD09
6 — LA 16 — LAR
7 — LB 17 — LBR
8 — LZ 18 — LZR
Assignment with
9 O 19 I DI3
parameter PD08
10 — DICOM 20 I EM2
Tab. 4-7: Signal arrangement of CN3 in MR-J4-B

Assignable symbols: RD ALM INP MBR DB
TLC WNG BWNG ZSP CDPS
ABSV SA VLC MTTR CLDS

Meaning of symbols

DI1 Devices can be assigned for these signals with controller setting. For
devices that can be assigned, refer to the controller instruction
DI2
Signal inputs — manual.
The following devices can be assigned for MR-J4 compatible control-
DI3
ler (Q172DSCPU, Q173DSCPU, and QD77MS).
EM2 Forced stop 2
reset that state.
Control terminals
When the protective circuit is activated to

shut off the base circuit, ALM will turn off.
ALM Alarm
When an alarm does not occur, ALM will
turn on after 2.5 s to 3.5 s after power-on.
RD turns on when the servo is switched on The signal must first be
Signal outputs
RD Ready
and the servo amplifier is ready to operate. assigned to a certain
INP turns on when the number of droop output terminal of
pulses is in the preset in-position range. The plug CN3 via parame-
INP In position device cannot be used in the speed control ter setting
mode, torque control mode, and for contin- PD07–PD09.
uous operation to torque control mode.
When warning has occurred, WNG turns on.
WNG Warning When a warning is not occurring, turning on
the power will turn off WNG after 2.5 s to 3.5 s.
Analog terminals
Analog output

Resolution: 10 bits or
equivalent
Input 24 V DC (± 10%, For sink interface, connect + of 24 V DC external power supply.

DICOM
300 mA) to I/O interface For source interface, connect – of 24 V DC external power supply.
Power supply
Common

DOCOM
LG Common terminal of MO1 and MO2
Tab. 4-8: Selection of the most important input and output signals of CN3
4 - 14
4.2.3 Servo amplifier series MR-J4W-B

The shown front view is that of the MR-J4 3-axis servo amplifier (MR-J4W3-B). For the MR-J4 2-axis
servo amplifier (MR-J4W2-B) connector CN2C is missing.
CN5 CN3
(USB connector)
1 14
2 15
DI1-C LG
DI2-C DI3-C
3 16
CN2A
4 17
LA-A LAR-A
2 6 10
LG 4 THM2 8 LB-A LBR-A
5 18
MRR MXR
1 5 9 CN8 (STO I/O 6
LA-B
19
LAR-B
P5 3 THM1 7 BAT signal connector)
LB-B LBR-B
MR MX 7 20
CN1A
Connector for 8 21
DI1-A DI1-B
CN2B SSCNET III cable for DI2-A DI2-B
previous servo 9 22
2 6 10
LG 4 THM2 8 amplifier axis 10 23
DI3-A DI3-B
MRR MXR
CN1B EM2 DICOM
1 5 9 Connector for 11 24
P5 3 THM1 7 BAT
SSCNET III cable for 12 25
MR MX CALM CINP
next servo amplifier
MBR-A MBR-B
axis 13 26
CN2C
MBR-C DOCOM
2 6 10
LG 4 THM2 8
MRR MXR
1 5 9 CN4
P5 3 THM1 7 BAT
(Battery connector)
MR MX
The frames of the CN2A, CN2B, CN2C and CN3

connectors are connected to the protective
earth terminal in the servo amplifier.
MR-J4W3-B Signalstecker.eps
Fig. 4-5: MR-J4W-B signal arrangement

For the MR-J4 3-axis servo amplifier (MR-J4W3-B)

Signal assignment

Connector for SSCNET III cable for previ- Used for connection with the controller or the servo
CN1A
ous servo amplifier axis amplifier of the previous axis.
Connector for SSCNET III cable for next Used for connection with the servo amplifier of the next
CN1B
servo amplifier axis axis. Put a cap on the CN1B connector of the final axis.
CN2A Connector for the servo motor encoder (axis A)
CN2B Encoder connector Connector for the servo motor encoder (axis B)

CN2C Connector for the servo motor encoder (axis C)
For connecting the battery (the battery unit consists of the
MR-BT6VCASE battery case and five MR-BAT6V1 batteries)
to store the data of the absolute position detection
(observe the following note).
be lost.
Tab. 4-9: Description of CN1A, CN1B, CN2A, CN2B, CN2C, CN3, CN4, CN5 and CN8

Signal arrangement of CN3
Symbol of Symbol of
Pin No. Signal I/O Pin No. Signal I/O
I/O signal I/O signal
1 I DI1-C 14 — LG
2 I DI2-C 15 I DI3-C
3 — LA-A 16 — LAR-A
4 — LB-A 17 — LBR-A
5 — LA-B 18 — LAR-B
6 — LB-B 19 — LBR-B
7 I DI1-A 20 I DI1-B
10 I EM2 23 — DICOM
11 O CALM 24 O CINP
12 O MBR-A 25 O MBR-B
13 O MBR-C 26 — DOCOM
Tab. 4-10: Signal arrangement of CN3 in MR-J4W-B

Initial device for A-axis, assignment with parameter PD07

Initial device for B-axis, assignment with parameter PD07

Initial device for C-axis, assignment with parameter PD07
The pin is not used for MR-J4 2-axis servo amplifiers.
Initial device for A, B and C-axis, assignment with parameter PD08
Initial device for A, B and C-axis, assignment with parameter PD09
4 - 16
Meaning of symbols

DI1-A Devices can be assigned for these signals with controller setting. For
devices that can be assigned, refer to the controller instruction
DI1-B manual.
DI1-C The following devices can be assigned for MR-J4 compatible control-
ler (Q172DSCPU, Q173DSCPU, and QD77MS).
DI2-A DI1-A: FLS for A-axis (Upper stroke limit)
DI2-B — DI2-A: RLS for A-axis (Lower stroke limit)
Signal inputs
DI3-A: DOG for A-axis (Proximity dog)

DI2-C DI1-B: FLS for B-axis (Upper stroke limit)
DI2-B: RLS for B-axis (Lower stroke limit)
DI3-A DI3-B: DOG for B-axis (Proximity dog)
DI3-B DI1-C: FLS for C-axis (Upper stroke limit)
DI2-C: RLS for C-axis (Lower stroke limit)
DI3-C DI3-C: DOG for C-axis (Proximity dog)
Control terminals

EM2 Forced stop 2
reset that state.
ALM-A
When the protective circuit is activated to shut off the base circuit,
ALM-B Alarm ALM will turn off. When an alarm does not occur, ALM will turn on
about 3 s after power-on.
ALM-C
RD-A
Enabling servo-on to make the servo amplifier ready to operate will
RD-B Ready
Signal outputs
turn on RD.
RD-C
INP-A When the number of droop pulses is in the preset in-position range,
INP will turn on. The device cannot be used in the speed control
INP-B In position
mode, torque control mode, and for continuous operation to torque
INP-C control mode.
WNG-A
When warning has occurred, WNG turns on. When a warning is not
WNG-B Warning
occurring, turning on the power will turn off WNG after about 3 s.
WNG-C
Input 24 V DC (± 10%, For sink interface, connect + of 24 V DC external power supply.
MR-J4W2-B: 350 mA,
DICOM
MR-J4W3-B: 450 mA) to
I/O interface For source interface, connect – of 24 V DC external power supply.
Power supply
Common

DOCOM
LG Control common This is for encoder output pulses (differential line driver).
Tab. 4-11: Selection of the most important input and output signals of CN3

The last letter with hyphen in device symbols means the target axis.
( differs depending on devices)
-A: Device for A-axis

-B: Device for B-axis
-C: Device for C-axis
This device is not used for MR-J4 2-axis servo amplifiers.

Installation and wiring Wiring the interfaces
4.3 Wiring the interfaces

4.3.1 I/O interfaces in negative logic (sink type)
Digital input interface DI-1
This is an input circuit whose photocoupler cathode side is the input terminal. Transmit signals from
sink (open-collector) type transistor output, relay switch, etc.
For transistor Servo amplifier

Approx.
Approx. EM2
6.2 kΩ
5 mA etc.
TR Switch
DICOM
VCES 1.0 V 24 V DC 10 %,

ICEO 100 μA 500 mA
Digitaleingang DI-1 negativ.eps
Fig. 4-6: Example

MR-J4W-B: Approximately 5.6 kΩ

MR-J4-B: 300 mA, MR-J4W2-B: 350 mA, MR-J4W3-B: 450 mA
Digital output interface DO-1

This is a circuit of collector output terminal of the output transistor. When the output transistor is
turned on, collector terminal current will be applied for the output.
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load.
(Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less)
A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo amplifier
If polarity of diode is
reversed, servo amplifier
will malfunction.
ALM, Load
etc.
DOCOM
24 V DC 10 %,
500 mA
Digitalausgang DO-1 negativ.eps
Fig. 4-7: Example

MR-J4-B: 300 mA, MR-J4W2-B: 350 mA, MR-J4W3-B: 450 mA
If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage
(maximum of 26.4 V) from external source.
b
WARNING:
When connecting an inductive load, please observe the right polarity of the recovery diode.
Wrong polarity of the diode can damage the servo amplifier.
4 - 18
Wiring the interfaces Installation and wiring
4.3.2 I/O interfaces in positive logic (source type)

In this servo amplifier, source type I/O interfaces can be used.
Digital input interface DI-1

This is an input circuit whose photocoupler anode side is the input terminal. Transmit signals using
source (open-collector) type transistor output, relay switch, etc.
For transistor Servo amplifier

Approx.
EM2
6.2 kΩ
etc.
TR Switch
DICOM
Approx.
5 mA
24 V DC 10 %,
VCES 1.0 V
ICEO 100 μA 500 mA
Digitaleingang DI-1 positiv.eps
Fig. 4-8: Example

MR-J4W-B: Approximately 5.6 kΩ

MR-J4-B(-RJ): 300 mA, MR-J4W2-B: 350 mA, MR-J4W3-B: 450 mA
Digital output interface DO-1

This is a circuit in which the emitter side of the output transistor is the output terminal. When the out-
put transistor is turned on, the current flows from the output terminal to a load.
A maximum of 2.6 V voltage drop occurs in the servo amplifier.
Servo amplifier
If polarity of diode is
reversed, servo amplifier
will malfunction.
ALM, Load
etc.
DOCOM
24 V DC 10 %,
500 mA
Digitalausgang DO-1 positiv.eps
Fig. 4-9: Example

MR-J4-B(-RJ): 300 mA, MR-J4W2-B: 350 mA, MR-J4W3-B: 450 mA
If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high voltage
(maximum of 26.4 V) from external source.
b
WARNING:
When connecting an inductive load, please observe the right polarity of the recovery diode.
Wrong polarity of the diode can damage the servo amplifier.

Installation and wiring Wiring the interfaces
4.3.3 Analog interfaces

Analog input (only MR-J4-A(-RJ))
Input impedance
10–12 kΩ
Servo amplifier
+15 V DC
P15R
Upper limit setting

2 kΩ VC, etc.
2 kΩ
Approx.
LG 10 kΩ
SD
Analogeingang.eps
Fig. 4-10: Example
Analog output (only MR-J4-A(-RJ) and MR-J4-B(-RJ))
Servo amplifier
MO1
(MO2)
Output voltage: ±10 V
Maximum output current: 1 mA
LG Resolution: 10 bits or equivalent
Analogausgang.eps
Fig. 4-11: Example

Output voltage range varies depending on the monitored signal.
4 - 20
Communication function Installation and wiring
4.4 Communication function
NOTE The USB communication function (CN5 connector) and the RS-422 communication function (CN3
connector) are mutually exclusive functions. They cannot be used together.
4.4.1 Serial interface RS-422 (only MR-J4-A(-RJ))

You can operate servo driving, parameter change, monitor function, etc. using RS-422 serial commu-
nication function with the servo amplifier.
● Single axis
Operate the single-axis servo amplifier. It is recommended to use the following cable.
Personal computer
Servo amplifier
max. 10 m
CN3
To RS-232C RS-422/232C conversion cable

connector DSV-CABV (Diatrend)
RS422-Kommunikation eine Achse.eps
Fig. 4-12: System configuration with the RS-422 interface for operation with one axis
● Multi-drop connection
Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus.
Servo amplifier Servo amplifier Servo amplifier
CN3 CN3 CN3
Personal computer

RS-422/232C conversion cable
To RS-232C DSV-CABV (Diatrend)
connector
RS422-Kommunikation mehrere Achsen.eps
Fig. 4-13: System configuration with the RS-422 interface for operation with multiple axes

The BMJ-8 (Hachiko Electric) is recommended as the branch connector.

The final axis must be terminated between RDP (pin No. 3) and RDN (pin No. 6) on the receiv-
ing side (servo amplifier) with a 150 Ω resistor.

Installation and wiring Communication function
4.4.2 USB interface

The servo amplifiers of the MR-J4 series have an USB communication interface. Therefore, you can
connect the servo amplifier to the personal computer with MR Configurator2 installed to perform the
parameter setting, test operation, gain adjustment, and others.
Personal computer
Servo amplifier
To USB
connector
CN5
USB cable
MR-J3USBCBL3M (Option)
USB-Kommunikation.eps
Fig. 4-14: Connection for USB communication
Note that using the USB communication function (CN5 connector) prevents the RS-422 communica-
tion function (CN3 connector) from being used, and vice versa. They cannot be used together.
4 - 22
Optical interface SSCNET III (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiring
4.5 Optical interface SSCNET III

(only MR-J4-B(-RJ) and MR-J4W-B)
The servo amplifiers MR-J4-B(-RJ) and MR-J4W-B have an optical interface SSCNET III (CN1A, CN1B).
Operation and monitoring of the servo amplifier can be done by the motion CPU.
b
WARNING:
Do not see directly the light generated from CN1A and CN1B connector of servo amplifier or the
end of SSCNET III cable. When the light gets into eye, may feel something is wrong for eye. (The
light source of SSCNET III complies with class1 defined in JIS C6802 or IEC60825-1.)
The SSCNET III cable of the HOST controller (motion CPU) or of the preceding servo amplifier is
plugged into connector CN1A. The SSCNET III cable to the next servo amplifier is plugged into termi-
nal CN1B. For CN1B connector of the final axis, put the cap on, which came with the servo amplifier.
The first axis The second axis The last axis

servo amplifier servo amplifier servo amplifier
SSCNET III SSCNET III

SSCNET III cable cable cable
Controller CN1A CN1A CN1A
Cap
CN1B CN1B CN1B
SSCNET III Verbindung MR-J4-B.eps
Fig. 4-15: SSCNET III cable connection for MR-J4-B(-RJ)
The first The second The last

servo amplifier servo amplifier servo amplifier
SSCNET III SSCNET III SSCNET III

cable cable cable
Controller CN1A CN1A CN1A
Cap
CN1B CN1B CN1B
SSCNET III Verbindung MR-J4W-B.eps
Fig. 4-16: SSCNET III cable connection for MR-J4W-B

Installation and wiring Optical interface SSCNET III (only MR-J4-B(-RJ) and MR-J4W-B)
NOTES Put a cap on CN1A and CN1B connector to protect the light device inside the connector from dust.
For this reason, do not remove a cap until just before mounting the SSCNET III cable. Then, when
removing SSCNET III cable, make sure to put a cap on.
Keep the cap for CN1A and CN1B connector and the tube for protecting the end of SSCNET III
cable in a plastic bag with a zipper to prevent them from becoming dirty.
When asking repair of servo amplifier for some troubles, make sure to put a cap on CN1A and
CN1B connector. When the connector is not protected by a cap, the light device may be damaged
at the transit. In this case, exchange and repair of light device is required.
SSCNET III cable with open ends (e.g. after disassembly of a defective servo amplifier) should be
covered immediately with the protective tube to prevent damage.
4 - 24
Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B) Installation and wiring
4.6 Setting the control axis number

(only MR-J4-B(-RJ) and MR-J4W-B)
You can set the control axis number between 1 and 64 by using auxiliary axis number setting switches
with the axis selection rotary switch. If the same numbers are set to different control axes in a single
communication system, the system will not operate properly. The control axes may be set indepen-
dently of the SSCNET III cable connection sequence. The following shows the description of each
switch.
4.6.1 MR-J4-B(-RJ)
Rotary switch (SW1) Fig. 4-17:

Switches for setting the control axis number
(MR-J4-B(-RJ))
ON
1 2 3 4
DIP switch (SW2)

MR-J4-B_Front_controls.eps
Auxiliary axis number setting switches (SW2-3 and SW2-4)

Turning these switches “ON (up)” enables you to set the axis No. 17 or more.
Axis selection rotary switch (SW1)

with the axis selection rotary switch.
Fig. 4-18:
Rotary switch (SW1)
7 8 9
A
3 4 5 6
B C DE
2
F 0 1
Rotary switch SW1.eps
b
WARNING:
● When switching the axis selection rotary switch (SW1) and auxiliary axis number setting
switch (SW2), use insulated screw driver. Do not use a metal screw driver. Touching patterns
on electronic boards, lead of electronic parts, etc. may cause an electric shock.
● For setting the axis selection rotary switch, use a flat-blade screwdriver with the blade edge
width of 2.1 mm to 2.3 mm and the blade edge thickness of 0.6 mm to 0.7 mm.

Installation and wiring Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B)
Switch combination list for the control axis No. setting

The following lists show the setting combinations of the auxiliary axis number setting switches and
the axis selection rotary switch.
Auxiliary axis number Axis selection Control axis Auxiliary axis number Axis selection Control axis
setting switch rotary switch number setting switch rotary switch number
0 1 0 17
1 2 1 18
2 3 2 19
3 4 3 20
4 5 4 21
5 6 5 22
6 7 6 23
ON ON
7 8 7 24
1 2 3 4 8 9 1 2 3 4 8 25
9 10 9 26
A 11 A 27
B 12 B 28
C 13 C 29
D 14 D 30
E 15 E 31
F 16 F 32
Auxiliary axis number Axis selection Control axis Auxiliary axis number Axis selection Control axis
setting switch rotary switch number setting switch rotary switch number
0 33 0 49
1 34 1 50
2 35 2 51
3 36 3 52
4 37 4 53
5 38 5 54
6 39 6 55
ON ON
7 40 7 56
1 2 3 4 8 41 1 2 3 4 8 57
9 42 9 58
A 43 A 59
B 44 B 60
C 45 C 61
D 46 D 62
E 47 E 63
F 48 F 64
Tab. 4-12: Switch combinations for setting the control axis numbers from 1 to 64 (MR-J4-B)
4 - 26
4.6.2 MR-J4W-B
Rotary switch (SW1) Fig. 4-19:

Switches for setting the control axis number
(MR-J4W-B)
ON
1 2 3 4 5 6
DIP switch (SW2)

MR-J4W-B_Front_controls.eps
Auxiliary axis number setting switches (SW2-5 and SW2-6)

Turning these switches “ON (up)” enables you to set the axis No. 17 or more.
Axis selection rotary switch (SW1)

with the axis selection rotary switch.
Fig. 4-20:
Rotary switch (SW1)
7 8 9
A
3 4 5 6
B C DE
2
F 0 1
Rotary switch SW1.eps
b
WARNING:
● When switching the axis selection rotary switch (SW1) and auxiliary axis number setting
switch (SW2), use insulated screw driver. Do not use a metal screw driver. Touching patterns
on electronic boards, lead of electronic parts, etc. may cause an electric shock.
● For setting the axis selection rotary switch, use a flat-blade screwdriver with the blade edge
width of 2.1 mm to 2.3 mm and the blade edge thickness of 0.6 mm to 0.7 mm.

Installation and wiring Setting the control axis number (only MR-J4-B(-RJ) and MR-J4W-B)
Switch combination list for the control axis No. setting

The following lists show the setting combinations of the auxiliary axis number setting switches and
the axis selection rotary switch.
● MR-J4 2-axis servo amplifier
The control axis number of A-axis is set as 1 to 63 and B-axis is set as 2 to 64.
Axis Control axis number Axis Control axis number

Auxiliary axis Auxiliary axis
selection selection
number setting number setting
rotary A-axes B-axes rotary A-axes B-axes
switch switch
switch switch
0 1 2 0 17 18
1 2 3 1 18 19
2 3 4 2 19 20
3 4 5 3 20 21
4 5 6 4 21 22
5 6 7 5 22 23
6 7 8 6 23 24
ON 7 8 9 ON 7 24 25
1 2 3 4 5 6 8 9 10 1 2 3 4 5 6 8 25 26
9 10 11 9 26 27
A 11 12 A 27 28
B 12 13 B 28 29
C 13 14 C 29 30
D 14 15 D 30 31
E 15 16 E 31 32
F 16 17 F 32 33

selection selection
number setting number setting
rotary A-axes B-axes rotary A-axes B-axes
switch switch
switch switch
0 33 34 0 49 50
1 34 35 1 50 51
2 35 36 2 51 52
3 36 37 3 52 53
4 37 38 4 53 54
5 38 39 5 54 55
6 39 40 6 55 56
ON 7 40 41 ON 7 56 57
1 2 3 4 5 6 8 41 42 1 2 3 4 5 6 8 57 58
9 42 43 9 58 59
A 43 44 A 59 60
B 44 45 B 60 61
C 45 46 C 61 62
D 46 47 D 62 63
E 47 48 E 63 64

F 48 49 F
Tab. 4-13: Switch combinations for setting the control axis numbers for axes A and B (MR-J4W2-B)

When B-axis is set as disabled-axis, A-axis is used as 64 axes. When B-axis is not set as disabled-
axis, AL. 11 “Switch setting error” occurs.
4 - 28
● MR-J4 3-axis servo amplifier

The control axis number of A-axis is set as 1 to 62, B-axis is set as 2 to 63, and C-axis is set as 3 to 64.

selection selection
number setting A- B- C- number setting A- B- C-
rotary rotary
switch axes axes axes switch axes axes axes
switch switch
0 1 2 3 0 17 18 19
1 2 3 4 1 18 19 20
2 3 4 5 2 19 20 21
3 4 5 6 3 20 21 22
4 5 6 7 4 21 22 23
5 6 7 8 5 22 23 24
6 7 8 9 6 23 24 25
ON 7 8 9 10 ON 7 24 25 26
1 2 3 4 5 6 8 9 10 11 1 2 3 4 5 6 8 25 26 27
9 10 11 12 9 26 27 28
A 11 12 13 A 27 28 29
B 12 13 14 B 28 29 30
C 13 14 15 C 29 30 31
D 14 15 16 D 30 31 32
E 15 16 17 E 31 32 33
F 16 17 18 F 32 33 34

selection selection
number setting A- B- C- number setting A- B- C-
rotary rotary
switch axes axes axes switch axes axes axes
switch switch
0 33 34 35 0 49 50 51
1 34 35 36 1 50 51 52
2 35 36 37 2 51 52 53
3 36 37 38 3 52 53 54
4 37 38 39 4 53 54 55
5 38 39 40 5 54 55 56
6 39 40 41 6 55 56 57
ON 7 40 41 42 ON 7 56 57 58
1 2 3 4 5 6 8 41 42 43 1 2 3 4 5 6 8 57 58 59
9 42 43 44 9 58 59 60
A 43 44 45 A 59 60 61
B 44 45 46 B 60 61 62
C 45 46 47 C 61 62 63
D 46 47 48 D 62 63 64

E 47 48 49 E
F 48 49 50 F
Tab. 4-14: Switch combinations for setting the control axis numbers for axes A, B and C (MR-J4W3-B)
When C-axis is set as disabled-axis, A-axis is used as 63 axes and B-axis is used as 64 axes. When C-
axis is not set as disabled-axis, AL. 11 “Switch setting error” occurs.
When B-axis and C-axis are set as disabled-axes, A-axis is used as 64 axes. When B-axis and C-axis
are not set as disabled-axes, AL. 11 “Switch setting error” occurs.

Installation and wiring Disabling of control axes (only MR-J4W-B)
4.7 Disabling of control axes (only MR-J4W-B)

Turning “ON (up)” a disabling control axis switch disables the corresponding servo motor. The servo
motor will be disabled-axis status and will not be recognized by the controller. The following shows
the disabling control axis switches for each axis.
MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier
ON ON
1 2 3 4 5 6 1 2 3 4 5 6
For manufacturer setting Disabling control axis switch for C-axis

Disabling control axis switch for B-axis Disabling control axis switch for B-axis
Disabling control axis switch for A-axis Disabling control axis switch for A-axis
MR-J4W-B_DIP switch SW2.eps
Fig. 4-21: Switches SW2-2, SW2-3, and SW2-4 for disabling control axes
Disable the axis that you do not use. Set them from the last axis to the first axis in order. When only the
first axis is disabled, AL. 11 “Switch setting error” occurs. The following lists show the enabled axes that
the controller recognizes and the disabled axes that the controller do not recognize.
MR-J4 2-axis servo amplifier MR-J4 3-axis servo amplifier

Disabling control Disabling control Disabling control
A-axis B-axis A-axis B-axis C-axis A-axis B-axis C-axis
axis switch axis switch axis switch
ON ON ON
✔ ✔ ✔ ✔ ✔
1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6
ON ON ON
✔ — ✔ ✔ —
1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6
Al. 11 occurs
ON ON ON
✔ — —
1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6
Al. 11 occurs
ON ON ON
Al. 11 occurs
1 2 3 4 5 6 1 2 3 4 5 6 1 2 3 4 5 6
Tab. 4-15: Enabling and disabling of axes for MR-J4W2-B and MR-J4W3-B
✔: Enabled
—: Disabled
b
WARNING:
When switching the axis selection rotary switch (SW1) and auxiliary axis number setting switch
(SW2), use insulated screw driver. Do not use a metal screw driver. Touching patterns on elec-
tronic boards, lead of electronic parts, etc. may cause an electric shock.
4 - 30
Servo motor Installation and wiring
4.8 Servo motor

4.8.1 Connecting the servo motor
b
WARNING:
● Ground the servo amplifier and servo motor securely. To prevent an electric shock, always
connect the protective earth (PE) terminal (terminal marked with ) of the servo amplifier
with the protective earth (PE) of the control box.
● Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo
motor. Otherwise, the servo motor will operate improperly.
● Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depend-
ing on the wiring and ground cable routing, the servo amplifier may be affected by the switching
noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram
and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Cabinet
CN2
MCCB MC
Line filter
L1
Power Encoder
supply L2
L3
L11
L21 U U
V V M
W W
CN1
Servo system
controller
Outer
box
Protective earth (PE)
Erdung MR-J4.eps
Fig. 4-22: Grounding of the servo amplifier MR-J4-A or MR-J4-B

For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open.
For power supply specifications, refer to section 4.1.

Installation and wiring Servo motor
Cabinet
Servo amplifier
A-axis servo motor
CNP1
MCCB MC CN2A
L1
Line filter
Encoder
Power
supply L2
L3 CNP3A
U U
CNP2 V V M
L11 W W
L21

Servo system
B-axis servo motor
controller
CN2B
Encoder
CNP3B
U U
V V M
W W

C-axis servo motor

CN2C
Encoder
CNP3C
U U
V V M
W W

Protective earth (PE)

Outer box
Erdung MR-J4W.eps
Fig. 4-23: Grounding of the servo amplifier MR-J4W2-B or MR-J4W3-B

For power supply specifications, refer to section 4.1.

Be sure to connect it to of CNP3A, CNP3B, and CNP3C. Do not connect the wire directly to
the protective earth of the cabinet.
4 - 32
Servo motor Installation and wiring
4.8.2 Servo motor with electromagnetic brake
b
WARNING:
● Configure an electromagnetic brake circuit so that it is activated also by an external EMG
stop switch.
● The electromagnetic brake is provided for holding purpose and must not be used for ordi-
nary braking.
● Before operating the servo motor, be sure to confirm that the electromagnetic brake oper-
ates properly.
● Do not use the 24 V DC interface power supply for the electromagnetic brake. Always use the
power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a
malfunction.
Note the following when the servo motor with an electromagnetic brake is used.
The brake will operate when the power (24 V DC) turns off.
The status is base circuit shut-off during RES (Reset) on. When you use the motor in vertical axis
system, use MBR (Electromagnetic brake interlock).
Turn off SON (Servo-on) after the servo motor stopped.
Connection diagram
Servo amplifier
MBR Servo motor

24 V DC RA1 B1
DOCOM
24 V DC ALM U B
MBR RA1 (Malfunction)
B2
MR-J4-A_B Verschaltung Haltebremse.eps
Fig. 4-24: Wiring of the electromagnetic brake for MR-J4-A(-RJ) and MR-J4-B(-RJ)

Create the circuit in order to shut off by interlocking with the emergency stop switch.

Do not use the 24 V DC interface power supply for the electromagnetic brake.

Installation and wiring Servo motor
A-axis servo motor

CALM MBR-A
RA5 RA1 RA2 B1
24 V DC B
U
for electromagnetic brake
B2
Servo amplifier
EM2 24 V DC B-axis servo motor
EM2 DOCOM MBR-B
RA3 B1
DICOM CALM RA1
24 V DC MBR-A RA2
U B
MBR-B RA3
MBR-C RA4
B2
C-axis servo motor

MBR-C
RA4 B1
U B
B2
MR-J4W-B Verschaltung Haltebremse.eps
Fig. 4-25: Wiring of the electromagnetic brake for MR-J4W-B

Do not use the 24 V DC interface power supply for the electromagnetic brake.

Create the circuit in order to shut off by interlocking with the emergency stop switch.

This connection is for the MR-J4 3-axis servo amplifier.
The illustration of the 24 V DC power supply is divided between input signal and output signal
for convenience. However, they can be configured by one.
4 - 34
Forced stop Installation and wiring
4.9 Forced stop
NOTES When alarms not related to the forced stop function occur, control of motor deceleration can not
be guaranteed.
When SSCNET III/H communication brake occurs, forced stop deceleration will operate (only MR-
J4(W)-B).
In the torque control mode, the forced stop deceleration function is not available.
4.9.1 Forced stop deceleration function

When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop decelera-
tion. During this sequence, the display shows AL. E6 “Servo forced stop warning”.
During normal operation, do not use EM2 (Forced stop 2) to alternate stop and drive. The servo ampli-
fier life may be shortened.
Servo amplifier
24 V DC
DICOM

Forced stop 2 EM2
NOT-AUS Verschaltung.eps
Fig. 4-26: Emergency switch

This diagram is for sink I/O interface. For source I/O interface, refer to section 4.3.2.

Installation and wiring Wiring examples
4.10 Wiring examples

Wire the power supply/main circuit as shown below. Connect the 1-phase 200 V AC to 240 V AC power
supply to L1 and L3. One of the connecting destinations is different from MR-J3 Series Servo Ampli-
fier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the power to L2.
Configure the wirings so that the main circuit power supply is shut off and SON (Servo-on) is turned
off after deceleration to a stop due to an alarm occurring, enabled servo forced stop, etc. A molded-
case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.
NOTE One model of the servo amplifier series MR-J4-A(-RJ), MR-J4-B(-RJ) and MR-J4W-B is only shown in
the wiring examples. Please refer to the respective user manual for the wiring of other servo ampli-
fier models.
4.10.1 Servo amplifier series MR-J4-A(-RJ)
Malfunction
RA1 OFF
ON
MC
EMG stop switch SK
MC
3-phase Servo amplifier
200 V AC to Servo motor
240 V AC MCCB MC CNP1

L1
CNP3
L2 U U Motor
L3 V V
M
N- W W
P3

P4
CNP2
P+
C

D Encoder
CN2 Encoder
L11 cable
L21
Main circuit Forced

power supply stop 2 CN1
EM2 CN1 24 V DC
Servo-on SON DOCOM
RA1
DICOM ALM Malfunction

24 V DC
CN8
Short-circuit connector
(Packed with the servo amplifier)
MR-J4-A_Anschluss_3 phasig_1.eps
Fig. 4-27: Wiring of servo amplifier MR-J4-10A(-RJ) to MR-J4-350A(-RJ)

Between P3 and P4 is connected by default. When using the power factor improving DC reactor,
remove the short bar between P3 and P4. Refer to the instruction manual for details. Additionally,
a power factor improving DC reactor and power factor improving AC reactor cannot be used
simultaneously.

Always connect between P+ and D terminals (factory-wired). When using the regenerative
option, refer to the instruction manual.
4 - 36
Wiring examples Installation and wiring

For the encoder cable, use of the option cable is recommended. For selecting cables, refer to
“Servo Motor Instruction Manual (Vol. 3)”.
This diagram shows sink I/O interface. For source I/O interface, refer to section 4.3.2.
For connecting servo motor power wires, refer to “Servo Motor Instruction Manual (Vol. 3)”
Use a magnetic contactor with an operation delay time (interval between current being applied
to the coil until closure of contacts) of 80 ms or less. Depending on the main circuit voltage and
operation pattern, bus voltage decreases, and that may cause the forced stop deceleration to
shift to the dynamic brake deceleration. When dynamic brake deceleration is not required, slow
the time to turn off the magnetic contactor.

Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unex-
pected restart of the servo amplifier.

When not using the STO function, attach the short-circuit connector came with a servo amplifier.

When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-
case circuit breaker. (Refer to the instruction manual.)

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.

Power
supply
Personal
Molded-case MR computer
circuit breaker Configurator2
(MCCB) CN5
Magnetic
contactor
CN6
(MC) Analog monitor
CN3
Personal computer and other

CN8 To safety relay or

MR-J3-D05 safety
logic unit
CN1
U
L1
V Junction terminal block
L2
L3 W
Power factor
P3 CN2
improving
DC reactor
(FR-HEL) P4
CN2L
P+ CN4
Regenerative Battery
option
C
L11
L21 Servo motor
MR-J4-A_Systemkonfiguration_3 phasig_1.eps
Fig. 4-28: System configuration for MR-J4-20A-RJ

The power factor improving AC reactor can also be used. In this case, the power factor improving
DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and
P4.

A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-
70A(-RJ) or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave
L2 open. For the power supply specifications, refer to section 4.1.

Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that
may cause the forced stop deceleration to shift to the dynamic brake deceleration. When
dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
This is for the MR-J4-A-RJ servo amplifier. The MR-J4-A servo amplifier does not have the
CN2L connector. When using an MR-J4-A-RJ servo amplifier in the linear servo system or in the
fully closed loop system, connect an external encoder to this connector. Refer to the “Linear
Encoder Instruction Manual” for the compatible external encoders.
4 - 38
4.10.2 Servo amplifier series MR-J4-B(-RJ)
Malfunction
RA1 OFF
ON
MC
EMG stop switch SK
MC
3-phase Servo amplifier
200 V AC to Servo motor
240 V AC MCCB MC CNP1
L1
CNP3
L2 U U Motor
L3 V V
M
N- W W
P3

P4
CNP2
P+
C
D Encoder
CN2 Encoder
L11 cable
L21
Main circuit Forced

power supply stop 2 CN3 CN3 24 V DC
EM2 DOCOM
RA1
,
DICOM ALM Malfunction
24 V DC
CN8
Short-circuit connector
(Packed with the servo amplifier)
MR-J4-A_Anschluss_3 phasig_1.eps
Fig. 4-29: Wiring of servo amplifier MR-J4-10B(-RJ) to MR-J4-350B(-RJ)

Between P3 and P4 is connected by default. When using the power factor improving DC reactor,
remove the short bar between P3 and P4. Refer to the instruction manual for details. Additionally,
a power factor improving DC reactor and power factor improving AC reactor cannot be used
simultaneously.

Always connect between P+ and D terminals. (factory-wired) When using the regenerative
option, refer to the instruction manual.

If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit
which switches off the magnetic contactor after detection of alarm occurrence on the controller
side.
For connecting servo motor power wires, refer to “Servo Motor Instruction Manual (Vol. 3)”.


Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unex-
pected restart of the servo amplifier.
When not using the STO function, attach the short-circuit connector came with a servo amplifier.


case circuit breaker. (Refer to the instruction manual.)
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.

Power
supply
Molded-case Personal
circuit breaker MR computer
(MCCB) Configurator2
CN5
Magnetic
contactor
(MC)
Junction
CN3
terminal
block
CN8 To safety relay or MR-J3-

D05 safety logic unit
Servo system controller
CN1A or previous servo
amplifier CN1B
U
L1
V CN1B Next servo amplifier
L2
W CN1A or cap
L3
Power factor P3 CN2

improving
DC reactor Servo motor
(FR-HEL) P4 CN2L
P+ CN4
Regenerative Battery
option
C
L11
L21
MR-J4-B_Systemkonfiguration_3 phasig_1.eps
Fig. 4-30: System configuration for MR-J4-20B-RJ

The power factor improving AC reactor can also be used. In this case, the power factor improving
DC reactor cannot be used. When not using the power factor improving DC reactor, short P3 and
P4.

A 1-phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR-J4-
70B(-RJ) or less. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave
L2 open. Refer to section 4.1 for the power supply specifications.

Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that
may cause the forced stop deceleration to shift to the dynamic brake deceleration. When
dynamic brake deceleration is not required, slow the time to turn off the magnetic contactor.
This is for MR-J4-B-RJ servo amplifier. MR-J4-B servo amplifier does not have CN2L connector.
When using MR-J4-B-RJ servo amplifier in the linear servo system or in the fully closed loop sys-
tem, connect an external encoder to this connector. Refer to the “Linear Encoder Instruction
Manual” for the compatible external encoders.
4 - 40
4.10.3 Multi axes servo amplifier series MR-J4W-B
AND malfunction
RA1 OFF
ON
MC
SK
EMG stop switch MC
3-phase
200 V AC to Servo amplifier A-axis servo motor
MCCB
240 V AC MC CNP1

L1
CNP3A
L2 U U Motor
L3 V V
M
CNP2 W W
P+
Encoder
C Encoder
CN2A
D cable
L11
L21 PE( )
B-axis servo motor
N-

CN8 CNP3B
U U
Short-circuit connector Motor
(Packed with the servo amplifier) V V
M
W W
Encoder Encoder
CN2B
cable
C-axis servo motor

CNP3C
U U Motor
V V
M
W W
Encoder Encoder
CN2C
cable
Main circuit Forced

power supply stop 2 CN3
EM2 CN3 24 V DC
DICOM DOCOM
24 V DC AND malfunction ,
RA1
CALM
MR-J4W-B_Anschluss_3 phasig_1.eps
Fig. 4-31: Wiring of servo amplifier MR-J4W-B

Between P+ and D is connected by default. When using the regenerative option, refer to the
instruction manual.


This circuit is an example of stopping all axes when an alarm occurs. If disabling CALM (AND mal-
function) output with the parameter, configure up the power supply circuit which switches off
the magnetic contactor after detection of alarm occurrence on the controller side.

For connecting servo motor power wires, refer to “Servo Motor Instruction Manual (Vol. 3)”.

For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to
section 4.1 for the power supply specifications.

Configure up a circuit to turn off EM2 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.

When not using the STO function, attach a short-circuit connector supplied with a servo
amplifier.

case circuit breaker (refer to the instruction manual).
For the MR-J4 3-axis servo amplifier

Connecting a servo motor for different axis to the CNP3A, CNP3B, or CN3C connector may cause
a malfunction.

4 - 42
EM-Compatible Installation Installation and wiring
4.11 EM-Compatible Installation

Fast switching of electrical currents and voltages, which naturally also occurs when servo amplifiers
are used, generates radio frequency interference (RF noise) that can be propagated both along cables
and through the air. The power and signal cables of the servo amplifier can act as noise transmission
antennas. Because of this the cabling work needs to be performed with the utmost care. The cables
connecting the servo amplifier and the motor are a particularly powerful source of potential
interference.
In the European Union several EMC (electromagnetic compatibility) directives have been passed with
regulations for the limitation of interference generated by variable-speed drive systems. To conform
to these regulations you must observe some basic guidelines when you are planning, installing and
wiring your systems:
● To reduce noise radiation install the equipment in a closed and properly earthed switchgear
cabinet made of metal.
● Ensure that everything is properly earthed.
● Use shielded cables.
● Install sensitive equipment as far away as possible from interference sources or install the inter-
ference sources in a separate switchgear cabinet.
● Keep signal and power cables separate. Avoid routing interference-suppressed cables (e.g. power
supply cables) and interference-prone cables (e.g. shielded motor cables) together for more than
short distances.
4.11.1 EM-compatible switchgear cabinet installation

The design of the switchgear cabinet is critical for compliance with the EMC directives. Please follow
the following guidelines:
● Use an earthed cabinet made of metal.
● Use conductive seals between the cabinet door and chassis and connect the door and the chassis
with a thick, braided earth cable.
● If an EMC filter is installed make sure that it has a good electrically conductive connection to the
installation panel (remove paint etc). Ensure that the base on which the equipment is installed is
also properly connected to the switchgear cabinet earth.
● All cabinet plates should be welded or screwed together not more than 10 cm apart to limit
transparency to RF noise. The diameters of any openings and cable glands in the cabinet should
not exceed 10 cm and there should not be any unearthed components anywhere in the cabinet.
If larger openings are required they must be covered with wire mesh. Always remove paint etc.
between all metal-on-metal contacts to ensure good conductivity for example between the wire
mesh covers and the cabinet.
● If servo amplifiers and controllers must be installed in the same cabinet they should be kept as
far away from one another as possible. It is better to use separate cabinets if possible. If you must
install everything in a single cabinet you can separate the servo amplifiers and controllers with a
metal panel.
● Earth the installed equipment with short, thick earth conductors or suitable earthing strips.
Earthing strips with a large surface area are better for earthing RFI signals than equipotential
bonding conductors with large cross-sections.

Installation and wiring EM-Compatible Installation
4.11.2 Wiring
All analog and digital signal cables should be shielded or routed in metal cable conduits.
At the entrance point to the chassis run the cable through a metal cable gland or fasten it with a P or
U type cable clamp, connecting the shielding to the earth either with the gland or the clamp (see illus-
tration below). If you use a cable clamp install it as near as possible to the cable entry point to keep the
distance to the earthing point as short as possible. To keep the unshielded portion of the cable (RFI
transmission antenna!) as short as possible ensure that the end of the motor cable shielding is as close
as possible to the connection terminal without causing a risk of earth faults or short circuits.
When using a P or U clamp make sure that the clamp is installed cleanly and that it does not pinch the
cable more than necessary.
Good installation Poor installation
Cable shielding
P-clamp
The shielding
should not be
twisted like this.
U-clamp
Abschirmklemmen P-U.eps
Route control signal cables at least 30 cm away from all power cables. Do not route the power supply
cables or the cables connecting the servo amplifier and the motor in parallel to control signal cables,
telephone cables or data cables.
If possible, all control signal cables to and from the servo amplifier should only be routed inside the
earthed switchgear cabinet. If routing control signal cables outside the cabinet is not possible always
use shielded cables, as signal cables can also function as antennas. The shielding of the cables must
always be earthed. To prevent corruption of sensitive analog signals (e.g. the 0–5 V analog frequency
setting signal) by currents circulating in the earthing system it may be necessary to earth only one end
of the cable shielding. In such cases always earth the shielding at the servo amplifier end of the cable.
Installation of standard ferrite cores on the signal cables can further improve RFI suppression. The
cable should be wound around the core several times and the core should be installed as close to the
servo amplifier as possible.
Motor connection cables should always be as short as possible. Long cables can sometimes trigger
earth fault protection mechanisms. Avoid unnecessarily long cables and always use the shortest pos-
sible route for the cables.
It should go without saying that the motor itself should also be properly earthed.
4 - 44
EM-Compatible Installation Installation and wiring
4.11.3 Optional EMC filters

EMC filters (mains RFI suppression filters) significantly reduce interference. They are installed between
the mains power supply and the servo amplifier of the MR-J4 series.
Wiring 1-phase
Input terminals Output terminals Power terminals of

of the filter of the filter the servo amplifier
L N PE PE L1 L2 L11 L21 L1 L2 L3 L11 L21 U V W PE
Power supply
(1-phase)
Motor
EMC-Filteranschluss_1-Phase.eps
Fig. 4-32: Wiring of the EMC filter with the servo amplifier for one phase power supply
Wiring 3-phase
Input terminals Output terminals Power terminals of

of the filter of the filter the servo amplifier
L1 L2 L3 PE PE L1’ L2’ L3’ L1 L2 L3 L11 L21 U V W PE
Power supply
(3-phase)
Motor
EMC-Filteranschluss_3-Phase.eps
Fig. 4-33: Wiring of the EMC filter with the servo amplifier for three phase power supply
b
WARNING:
● These filters are NOT designed for use in power networks (IT type). When the noise filters are
operated leakage currents are discharged to earth. This can trigger upstream protective
devices (as RCDs), particularly when there are unbalanced mains voltages, mains phase
failures or switching activities on the input side of the filter.
For further information please refer to the Mitsubishi manual for servo amplifiers and the
EMC Installation Guidelines which contain detailed information about EM-compatible
installation.
● Connect the 1-phase 200 V AC to 240 V AC power supply to the terminals L1 and L3 of the
servo amplifier. One of the connecting destinations is different from MR-J3 Series Servo
Amplifier's. When using MR-J4 as a replacement for MR-J3, be careful not to connect the
power to L2.

Installation and wiring EM-Compatible Installation
4 - 46
Preparations Startup
5 Startup
5.1 Preparations
Before switching on the servo amplifier for the first time
Check all the following points carefully before switching on a servo amplifier for the first time:
● Has all the wiring been performed correctly? Check the power supply connections particularly
carefully: Single-phase to L1 and L3, 3-phase to L1, L2 and L3.
● Double-check for damaged cables and insufficiently insulated terminals to eliminate any possi-
bility of short circuits.
● Is the servo amplifier properly earthed? Double-check for possible earth faults and short circuits
in the output circuit.
● Check that all screws, connection terminals and other cable connections are connected correctly
and firmly.
Cable routing
● The wiring cables are free from excessive force.
● The encoder cable should not be used in excess of its flex life.
● The connector part of the servo motor should not be strained.
Environment
Check the following point before initial startup:
● Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
Parameters
Check the setting of parameters by the display of the controller or setup software.
m
DANGER:
● Before starting operation, check the parameters. Improper settings may cause some
machines to operate unexpectedly.
● The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power
is on or for some time after power-off. Take safety measures, e.g. provide covers, to prevent
accidental contact of hands and parts (cables, etc.) with them.
● During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.
b
WARNING:
Incorrect parameter settings can damage or (in extreme cases) even destroy the connected
motor. Take great care when you are setting the parameters and double check the electrical and
mechanical specifications of the motor, your entire drive system and the connected machine
before proceeding.

Startup Startup of servo amplifier series MR-J4-A(-RJ)
5.2 Startup of servo amplifier series MR-J4-A(-RJ)

5.2.1 Power on and off the servo amplifier
Procedure in position control mode.
Power on
Switch power on in the following procedure. Always follow this procedure at power-on.
Switch off SON (Servo-on).
Make sure that a command pulse train is not input.
Switch on the main circuit power supply and control circuit power supply.
When main circuit power/control circuit power is switched on, the display shows “C” (Cumulative-
feedback pulses), and in 2 s later, shows data.
Power off
Make sure that a command pulse train is not input.
Switch off SON (Servo-on).
Switch off the main circuit power supply and control circuit power supply.
NOTES The power on and off procedure for the operating modes speed control and torque control are not
described here. For details about this please refer to the respective instruction manuals of the
servo amplifier series.
In the absolute position detection system, first power-on results in AL. 25 (Absolute position
erased) and the servo system cannot be switched on. The alarm can be deactivated by then
switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 1/min or higher, position mismatch
may occur due to external force or the like. Power must therefore be switched on when the servo
motor is at a stop.
5-2
Startup of servo amplifier series MR-J4-A(-RJ) Startup
5.2.2 Stop of operation

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor
and brings it to a stop. Refer to the instruction manual for the servo motor with an electromagnetic
brake.
Operation/command Stopping condition

Switch off SON (Servo-on) The main circuit is shut off and the servo motor coasts.
The servo motor decelerates to a stop with the command. With some
Alarm occurrence alarms, however, the dynamic brake operates to bring the servo motor
to a stop. (See note)
The servo motor decelerates to a stop with the command. AL. E6 (Servo
EM2 (Forced stop 2) off forced stop warning) occurs. EM2 has the same function as EM1 in the
torque control mode. Refer to the instruction manual for EM1.
The main circuit is shut off and the dynamic brake operates to bring the
STO (STO1, STO2) off
servo motor to a stop.
LSP (Forward rotation stroke end) of LSN (Reverse It will bring the motor to a sudden stop and make it servo-locked. It can
rotation stroke end) off be run in the opposite direction.
Tab. 5-1: Stop of operation by the servo amplifier
NOTE Refer to “MELSERVO J4 Servo Amplifier Instruction Manual (Troubleshooting)” for details of alarms
and warnings.

Startup Startup of servo amplifier series MR-J4-A(-RJ)
5.2.3 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates nor-
mally. Refer to section 5.2.1 for the power on and off methods of the servo amplifier.
In this step, confirm that the servo amplifier and servo motor oper-
Test operation of the servo motor ate normally.
alone in JOG operation of test With the servo motor disconnected from the machine, use the test
operation mode operation mode and check whether the servo motor correctly
rotates at the slowest speed.
In this step, confirm that the servo motor correctly rotates at the
Test operation of the servo motor slowest speed under the commands from the controller.
alone by commands Make sure that the servo motor rotates in the following procedure.
Switch on EM2 (Forced stop 2) and SON (Servo-on). When the
servo amplifier is put in a servo-on status, RD (Ready) switches
on.
Switch on LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end).
When a pulse train is input from the controller, the servo motor
starts rotating. Give a low speed command at first and check the
rotation direction, etc. of the servo motor. If the machine does
not operate in the intended direction, check the input signal.
In this step, connect the servo motor with the machine and con-
Test operation with the servo motor firm that the machine operates normally under the commands
and machine connected from the controller.
Make sure that the servo motor rotates in the following procedure.
Switch on EM2 (Forced stop 2) and SON (Servo-on). When the
servo amplifier is put in a servo-on status, RD (Ready) switches
on.
Switch on LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end).
When a pulse train is input from the controller, the servo motor
starts rotating. Give a low speed command at first and check the
operation direction, etc. of the machine. If the machine does not
operate in the intended direction, check the input signal. In the
status display, check for any problems of the servo motor speed,
command pulse frequency, load ratio, etc.
Then, check automatic operation with the program of the
controller.
Tab. 5-2: Test operation of the servo amplifier MR-J4-A at position control
5-4
Startup of servo amplifier series MR-J4-A(-RJ) Startup
5.2.4 Parameter setting
b
WARNING:
Change settings and parameters only in small steps and make afterwards at first sure whether
the desired effect occurs before doing any more changes. Excessive adjustment or change of
parameter setting must not be made as it will make operation instable.
In the position control mode, the servo amplifier can be used by merely changing the basic setting
parameters (PA) mainly.
As necessary, set other parameters:
● Gain/filter setting parameters (PB)
● Extension setting parameters (PC)
● I/O setting parameters (PD)
● Extension setting 2 parameters (PE)
● Extension setting 3 parameters (PF)
● Linear servo motor/DD motor setting parameters (PL)
● Option setting parameters (Po)
● Position control parameters (PT)

Only MR-J4-A-RJ
5.2.5 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings. Perform a home position return as necessary.
NOTE If there are any problems during startup, refer to the chapter “troubleshooting” in section 8.1 and
in the instruction manual of the respective servo amplifier.

Startup Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B
5.3 Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B

5.3.1 Power on and off the servo amplifier
Power on
When the main and control circuit power supplies are turned on, “b01” (for the first axis) appears on
the servo amplifier display.
Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 7
and the instruction manual for details.
After setting the above parameters, turn power off as necessary. Then switch power on again to ena-
ble the parameter values.
Servo-on
Enable the servo-on with the following procedure.
Switch on main circuit power supply and control circuit power supply.
Transmit the servo-on command with the controller.
When the servo-on status is enabled, the servo amplifier is ready to operate and the servo motor is
locked.
Home position return

Always perform home position return before starting positioning operation.
NOTES When the absolute position detection system is used in a rotary servo motor, first power-on results
in AL. 25 (Absolute position erased) and the servo system cannot be switched on. The alarm can be
deactivated by then switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 1/min or higher, position mismatch
may occur due to external force or the like. Power must therefore be switched on when the servo
motor is at a stop.
5-6
Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B Startup
5.3.2 Stop of operation

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor
and brings it to a stop.
Refer to the instruction manual for the servo motor with an electromagnetic brake.
Triggered by Operation/command Stopping condition

The main circuit is shut off and the servo motor
Servo-off command
coasts.
The base circuit is shut off and the dynamic brake
Servo system controller Ready-off command
operates to bring the servo motor to a stop.
The servo motor decelerates to a stop with the com-
Forced stop command
mand. AL. E7 (Controller forced stop warning) occurs.
Alarm occurrence mand. With some alarms, however, the dynamic brake
operates to bring the servo motor to a stop. (See note)
Servo amplifier mand. AL. E6 (Servo forced stop warning) occurs. EM2
EM2 (Forced stop 2) off
has the same function as EM1 in the torque control
mode. Refer to the instruction manual for EM1.
The main circuit is shut off and the dynamic brake
STO (STO1, STO2) off
operates to bring the servo motor to a stop.
Tab. 5-3: Stop of operation by servo system controller or servo amplifier
NOTE Refer to “MELSERVO J4 Servo Amplifier Instruction Manual (Troubleshooting)” for details of alarms
and warnings.

Startup Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B

Before starting actual operation, perform test operation to make sure that the machine operates nor-
mally. Refer to section 5.3.1 for the power on and off methods of the servo amplifier.
NOTE If necessary, verify controller program by using motor-less operation. Refer to section 6.2.5 for the
motor-less operation
In this step, confirm that the servo amplifier and servo motor oper-
Test operation of the servo motor ate normally.
alone in JOG operation of test With the servo motor disconnected from the machine, use the test
operation mode operation mode and check whether the servo motor correctly
rotates at the slowest speed.
In this step, confirm that the servo motor correctly rotates at the
Test operation of the servo motor slowest speed under the commands from the controller.
alone by commands Give a low speed command at first and check the rotation direc-
tion, etc. of the servo motor. If the machine does not operate in the
intended direction, check the input signal.
In this step, connect the servo motor with the machine and con-
Test operation with the servo motor firm that the machine operates normally under the commands
and machine connected from the controller.
Give a low speed command at first and check the operation direc-
tion, etc. of the machine. If the machine does not operate in the
intended direction, check the input signal.
Check any problems with the servo motor speed, load ratio, and
other status display items with MR Configurator2.
Then, check automatic operation with the program of the controller.
Tab. 5-4: Test operation of the servo amplifier MR-J4-B
NOTE If there are any problems during startup, refer to the chapter “troubleshooting” in section 8.2, 8.3
and in the instruction manual of the respective servo amplifier.
5-8
Display and operation section of MR-J4-A series Operation and Settings
6 Operation and Settings

6.1 Display and operation section of MR-J4-A series
The MR-J4-A(-RJ) servo amplifier has the display section (5-digit, 7-segment LED) and operation sec-
tion (4 push buttons) for servo amplifier status display, alarm display, parameter setting, etc. Also,
press the “MODE” and “SET” buttons at the same time for 3 s or more to switch to the one-touch tuning
mode.
6.1.1 Overview
The operation section and display data are described below.
5-digit, 7-segment LED

Displays data
MODE UP DOWN SET
Decimal LED Displays the decimal points, alarm

presence/absence, etc.
MODE Display mode change
Low/High switching Lit to indicate the decimal point.
Push this button together
with the “SET” button for 3 s Decimal
or more to switch to the one-
touch tuning mode. Lit to indicate a negative when “-”
UP Display/data scrolling (negative) cannot be displayed.
DOWN Display/data scrolling
SET Display/data determination
Data clear Flickers to indicate alarm occurrence.
Push this button together
with the “MODE” button for
3 s or more to switch to the
one-touch tuning mode.
Flickers to indicate the test operation
mode.
MR-J4-A Anzeige_Bedienelemente.eps
Fig. 6-1: Display and push buttons of MR-J4-A

Operation and Settings Display and operation section of MR-J4-A series
6.1.2 Display flowchart MR-J4-A

Press the “MODE” button once to shift to the next display mode. Refer to section 6.1.3 and later for the
description of the corresponding display mode.
To refer to and set the gain/filter parameters, extension setting parameters and I/O setting parame-
ters, enable them with parameter PA19 (Parameter writing inhibit).
Display mode transition Initial screen Function Refer to
Servo status display.

appears at Section 6.1.3
Status display power-on.
One-touch tuning
Instruction
Select this when performing the manual
One-touch tuning one-touch tuning.
Sequence display, external signal

display, output signal (DO) forced
output, test operation, software ver-
sion display, VC automatic offset, Instruction
Diagnosis
servo motor series ID display, servo manual
motor type ID display, servo motor
encoder ID display, drive recorder
enabled/disabled display.
Alarms Current alarm display, alarm his-

tory display, parameter error Section 6.1.8
number display.
Basic setting
Button parameters Display and setting of basic set-
ting parameters.
MODE
Gain/filter
parameters Display and setting of gain/fil-
ter parameters.
Extension setting
parameters
Display and setting of exten-
sion setting parameters.
I/O setting Display and setting of I/O set-

parameters Section 6.1.9
ting parameters.
Extension setting 2 Display and setting of exten-

parameters sion setting 2 parameters.

Linear/DD motor Display and setting of linear/DD

setting parameters motor setting parameters.
Tab. 6-1: MR-J4-A – Display sequence via activation of the MODE button

When the axis name is set to the servo amplifier using MR Configurator2, the axis name is dis-
played and the servo status is then displayed.
6-2
6.1.3 Status display mode MR-J4-A

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the “UP” or
“DOWN” button to change display data as desired. When the required data is selected, the corre-
sponding symbol is displayed. Press the “SET” button to display that data. At only power-on, however,
data appears after the symbol of the status display selected in Parameter PC36 (initial setting: C
(Cumulative feedback pulses)) has been shown for 2 s.
Display transition
After selecting the status display mode with the “MODE” button, pressing the “UP” or “DOWN” button
changes the display as shown below.
Unit total power consumption 2

(increment of 100 kWh)
Cumulative feedback Within one-revolution

pulses position (1000 pulse unit)
Servo motor speed/

Linear servo motor speed ABS counter
Droop pulses Load to motor inertia ratio
Cumulative command
pulses Bus voltage
Command pulse Encoder inside

frequency temperature
Analog speed command

voltage
Settling time
Analog speed limit
voltage UP
Analog torque limit DOWN

voltage Oscillation detection
Analog torque command frequency
voltage
Number of tough drive

Regenerative load ratio
operations
Unit power consumption 1

Effective load ratio (increment of 1 W)

Peak load ratio (increment of 1 kW)
Unit total power

Instantaneous torque consumption 1
(increment of 1 Wh)
Unit total power

Within one-revolution consumption 2
position (1 pulse unit) (increment of 100 kWh)
Cumulative feedback pulses
MR-J4-A_Flussdiagramm Statusanzeige.eps
Fig. 6-2: MR-J4-A – Display transition of status display (standard control mode)

6-4
Load-side encoder information 2

Cumulative feedback
pulses
Unit total power

consumption 2
Load-side encoder cumulative

feedback pulses
Load-side encoder droop pulses

(1 pulse unit)

(100 pulses unit)
MR-J4-A_Flussdiagramm Statusanzeige doppelte Rückführung.eps
Fig. 6-3: MR-J4-A – Display transition of status display (fully closed loop control mode)

The displays in the frames are the standard control modes in one cycle with some displays
omitted.


Cumulative feedback
pulses
Unit total power

consumption 2
Z-phase counter low
Z-phase counter high
Electrical angle low
Electrical angle high
MR-J4-A_Flussdiagramm Statusanzeige linear direct-drive.eps
Fig. 6-4: MR-J4-A – Display transition of status display

(Linear servo motor control mode/Direct drive motor control mode)
The displays in the frames are the standard control modes in one cycle with some displays
omitted.
6-6
6.1.4 Display flowchart MR-J4-A-RJ

Press the “MODE” button once to shift to the next display mode. Refer to section 6.1.5 and later for the
description of the corresponding display mode.

Servo status display.
For the point table and program
is displayed at
Status display power-on. Section 6.1.5
For indexer, will

be displayed.
One-touch tuning
One-touch tuning Instruction
Select this when performing the manual
one-touch tuning.
Sequence display, drive recorder

enabled/disabled display, external
I/O signal display, output signal
(DO) forced output, test operation,
Diagnosis Instruction
software version display, VC auto-
manual
matic offset, servo motor series ID
display, servo motor type ID display,
servo motor encoder ID display,
teaching function
Current alarm display, alarm his-

Alarms tory display, parameter error Section 6.1.8
number display.
Display and setting of point

table data. The screen is dis-
Instruction
Point table setting played only in the point table
manual
method, and is not displayed in
other control mode.
Button Basic setting Display and setting of basic set-

parameters ting parameters.
MODE
Gain/filter Display and setting of gain/fil-

parameters ter parameters.
Extension setting Display and setting of exten-

parameters sion setting parameters.
I/O setting Display and setting of I/O set-

parameters ting parameters. Section 6.1.9


Linear/DD motor Display and setting of linear/DD

setting parameters motor setting parameters.
From/to next table
Tab. 6-2: MR-J4-A-RJ – Display sequence via activation of the MODE button (1)

To/from previous table
Display and setting of option

Option setting
parameters setting parameters.
Section 6.1.9
Positioning setting Display and setting of position-

parameters ing control parameters.
Tab. 6-2: MR-J4-A-RJ – Display sequence via activation of the MODE button (2)

When the axis name is set to the servo amplifier using MR Configurator2, the axis name is dis-
played and the servo status is then displayed.
6.1.5 Status display mode MR-J4-A-RJ

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the “UP” or
“DOWN” button to change display data as desired. When the required data is selected, the corre-
sponding symbol is displayed. Press the “SET” button to display that data. At only power-on, however,
data appears after the symbol of the status display selected in Parameter PC36 has been shown for 2 s.
6-8
Display transition
After selecting the status display mode with the “MODE” button, pressing the “UP” or “DOWN” button
changes the display as shown below.
Override level
Cumulative feedback Encoder inside

pulses temperature
Servo motor speed/ Settling time

Linear servo motor speed
Oscillation detection
Droop pulses
frequency
Cumulative command Number of tough drive

pulses operations
Command pulse Unit power consumption 1

frequency (increment of 1 W)

voltage Unit power consumption 2
Analog speed limit (increment of 1 kW)
voltage
Analog torque limit Unit total power
voltage consumption 1
Analog torque command (increment of 1 Wh)
voltage
Unit total power

Regenerative load ratio consumption 2
UP
Effective load ratio DOWN

Current position
Peak load ratio Command position
Command remaining
Instantaneous torque distance
Point table/program No./

Within one-revolution command station
position (1 pulse unit) position
Within one-revolution
position (1000 pulse unit) Step No.
ABS counter Analog override voltage
Load to motor inertia ratio Override level

Bus voltage
MR-J4-A/RJ_Flussdiagramm Statusanzeige.eps
Fig. 6-5: MR-J4-A-RJ – Display transition of status display (Positioning mode/DD motor control mode)

Override level
Cumulative feedback
pulses
Unit total power

consumption 2
Load-side encoder cumulative

feedback pulses
Load-side encoder droop pulses

(1 pulse unit)

(100000 pulses unit)
Current position
Override level
MR-J4-A-RJ_Flussdiagramm Statusanzeige doppelte Rückführung.eps
Fig. 6-6: MR-J4-A-RJ – Display transition of status display (fully closed loop control mode)

The displays in the frames are from the cumulative feedback pulses of positioning mode to unit
total power consumption 2 (increment of 100 kWh) with some displays omitted.

The displays in the frames are from the current position of positioning mode to override level
with some displays omitted.
6 - 10
Override level

Cumulative feedback
pulses
Unit total power

consumption 2
Z-phase counter low
Z-phase counter high
Electrical angle low
Electrical angle high
Current position
Override level

MR-J4-A_RJ_Flussdiagramm Statusanzeige linear direct-drive.eps
Fig. 6-7: MR-J4-A-RJ – Display transition of status display (Linear servo motor control mode)

The displays in the frames are from the cumulative feedback pulses of positioning mode to unit
total power consumption 2 (increment of 100 kWh) with some displays omitted.

The displays in the frames are from the current position of positioning mode to override level
with some displays omitted.

6.1.6 Display examples

Displayed data
Item State
Servo amplifier display
Forward rotation at 2500 min–1
Servo motor speed
Reverse rotation at 3000 min–1
Reverse rotation is indicated by “–”.
Load to motor inertia ratio 7.00 times
11252 revolutions
ABS counter
-12566 revolutions
Lit
Tab. 6-3: Display examples of status display MR-J4-A(-RJ)
6.1.7 Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing
Parameter PC36 settings. The item displayed in the initial status changes with the control mode as
follows.
Control mode Status display

Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback pulses
Positioning (point table
Current position
method/program method)
Positioning (indexer method) Cumulative feedback pulses
Tab. 6-4: Display of initial status MR-J4-A(-RJ)

Only MR-J4-A-RJ
6 - 12
6.1.8 Alarm mode

The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the dis-
play indicate the alarm number that has occurred or the parameter number in error.
Name Display Description
Indicates no occurrence of an alarm.
Current alarm
Indicates the occurrence of AL. 33.1 (Main circuit voltage
error). Flickers at alarm occurrence.
Indicates that the last alarm is AL. 50.1 (Thermal overload

error 1 during operation).
Indicates the second last alarm is AL. 33.1 (Main circuit

voltage error).
Indicates the third last alarm is AL. 10.1 (Voltage drop in

the control circuit power).
----
----
Alarm history Indicates that there is no tenth alarm in the past.
Indicates that there is no eleventh alarm in the past.
Indicates that there is no twelfth alarm in the past.

----
----
Indicates that there is no sixteenth alarm in

the past.
This indicates no occurrence of AL. 37 (Parameter error).
Parameter error No.

The data content error of Parameter PA12 (Reverse rota-
tion torque limit).
The value of the point table is over the setting range.

The error point table No. (intermediate digit “2”) and item
(lower digit “d”) are displayed.
Point table error No. The following shows the items.
P: position data, d: motor speed, A: acceleration time con-
stant, b: deceleration time constant, n: dwell, H: sub func-
tion, M: M code
Tab. 6-5: Alarm examples

If a parameter error and point table error occur simultaneously, the display shows the parameter
error (only MR-J4-A-RJ).

The display shows only when the current alarm is AL. 37 (Parameter error).

Only MR-J4-A-RJ

NOTES Any mode screen displays the current alarm.
Even during alarm occurrence, the other screen can be viewed by pressing the button in the oper-
ation area. At this time, the decimal point in the fourth digit remains flickering.
For any alarm, remove its cause and clear it in any of the following methods.
– Switch power off, then on.
– Push the “SET” button on the current alarm screen.
– Turn on RES (Reset).
Use Parameter PC18 to clear the alarm history.
Push “UP” or “DOWN” to move to the next history.
6 - 14
6.1.9 Parameter mode

Parameter mode transition
After selecting the corresponding parameter mode with the “MODE” button, pushing the “UP” or
“DOWN” button changes the display as shown below.
To status display mode

MODE
From an alarm Basic setting Gain/filter Extension setting I/O setting Extension setting Extension setting Linear/DD motor
mode parameters parameters parameters parameters parameters 2 parameters 3 parameters
Parameter PA01 Parameter PB01 Parameter PC01 Parameter PD01 Parameter PE01 Parameter PF01 Parameter PL01
UP
DOWN
MR-J4-A_Ablaufdiagramm Parameteranzeige.eps
Fig. 6-8: MR-J4-A – Parameter display selection
From an alarm To status display

mode mode
MODE
Basic setting Gain/filter Extension setting I/O setting Extension setting Extension setting Linear/DD motor Option setting Positioning set-
parameters parameters parameters parameters parameters 2 parameters 3 parameters parameters ting parameters
Parameter PA01 Parameter PB01 Parameter PC01 Parameter PD01 Parameter PE01 Parameter PF01 Parameter PL01 Parameter Po01 Parameter PT01
UP
DOWN
MR-J4-A-RJ_Ablaufdiagramm Parameteranzeige.eps
Fig. 6-9: MR-J4-A-RJ – Parameter display selection
Operation example
● Parameters of 5 or less digits
The following example shows the operation procedure performed after power-on to change the
control mode to the speed control mode with Parameter PA01 (Operation mode). Press “MODE”
to switch to the basic setting parameter screen.

…… The parameter number is displayed.

Press “UP” or “DOWN” to change the number.
Press “SET” twice.
…… The set value of the specified parameter number flickers.
Press “UP” twice.
During flickering, the set value can be changed.

…… Use “UP” or “DOWN”.
(2: Speed control mode)
Press “SET” to enter.
MR-J4-A_Parametereinstellung 5 Stellen.eps
Fig. 6-10: Changing PA01 from “Position control mode” to “Speed control mode”
To shift to the next parameter, press the “UP” or “DOWN” button.

When changing the Parameter PA01 setting, change its set value, then switch power off once and
switch it on again to enable the new value.
● Parameters of 6 or more digits

The following example gives the operation procedure to change the electronic gear numerator
to “123456” with Parameter PA06 (Electronic gear numerator).
Press “MODE” to switch to the basic setting parameter screen.

Press “UP” or “DOWN” to select Parameter PA06.
Press “SET” once.
Setting of upper 1 digit Setting of lower 4 digits

Press “MODE” once.
…… The screen flickers ……
Press “UP” or “DOWN” to

change the setting.
…… Enter the setting. …
Press “MODE” once.
MR-J4-A_Parametereinstellung 6 Stellen.eps
Fig. 6-11: Changing the setting of PA06 to “123456”
6 - 16
6.1.10 Test operation mode
b
WARNING:
● The test operation mode is designed for checking servo operation. Do not use it for actual
operation.
● If the servo motor operates unexpectedly, use EM2 (Forced stop 2) to stop it.
NOTES The test operation mode cannot be used in the absolute position detection system by DIO.
MR Configurator2 is required to perform positioning operation.
Test operation cannot be performed if SON (Servo-on) is not turned off.
Mode switching
Call the display screen shown after power-on. Select JOG operation or motor-less operation in the fol-
lowing procedure. Using the “MODE” button, show the diagnostic screen.
Press “UP” four times.
Press “SET” for longer than 2 s.
…… When this screen appears, JOG

operation can be performed.
Flickers in the test operation mode.

MR-J4-A_Mode switching Test operation.eps
Fig. 6-12: Mode switching for JOG operation or motor-less operation

JOG operation
NOTE When performing JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic
on by setting Parameter PD01 to “ C ”.
JOG operation can be performed when there is no command from the controller.
● Operation
The servo motor rotates while holding down the “UP” or the “DOWN” button. The servo motor
stops rotating by releasing the button. The operation condition can be changed using
MR Configurator2. The initial operation condition and setting range for operation are listed below.
Item Initial setting Setting range
Speed [1/min] 200 0 to instantaneous permissible speed

Acceleration/deceleration
1000 0 to 50000
time constant [ms]
Tab. 6-6: Initial settings for operation
The following table shows how to use the buttons.
Button Description Tab. 6-7: Use of the buttons

Press to start CCW rotation.
“UP”
Release to stop.
Press to start CW rotation.
“DOWN”
Release to stop.
If the USB cable is disconnected during JOG operation using the MR Configurator2, the servo
motor decelerates to a stop.
● Status display
Press the “MODE” button in the JOG operation-ready status to call the status display screen. When
the JOG operation is performed using the “UP” or “DOWN” button, the servo status is displayed
during the JOG operation. Every time the “MODE” button is pushed, the next status display screen
appears. When one cycle of the screen display is complete, it returns to the jog operation-ready
status screen. Refer to section 6.1.3 for details of status display. Note that the status display screen
cannot be changed by the “UP” or “DOWN” button during the JOG operation.
● Termination of JOG operation
To end the JOG operation, shut the power off once, or press the “MODE” button to switch to the
next screen, and then hold down the “SET” button for 2 s or longer.
6 - 18
Positioning operation
NOTES MR Configurator2 is required to perform positioning operation.
Turn on EM2 (forced stop 2) when performing positioning operation.
For positioning operation of the servo amplifier MR-J4-A-RJ in positioning mode with the point
table method, program method, indexer method refer to the instruction manual.
Positioning operation can be performed when there is no command from a controller.

● Operation

Einstellmenü Positionierung.tif
Fig. 6-13: Setting menu of setup software for positioning
Motor speed [1/min]

Enter the servo motor speed into the “Motor speed” input field.
Acceleration/deceleration time constant [ms]
Enter the acceleration/deceleration time constant into the “Accel/decel time” input field.
Travel distance [pulse]
Enter the travel distance into the “Travel distance” input field.
LSP/LSN are automatically turned on
When setting the external stroke signal to automatic on, click the check box to enable it. When
it is not selected, turn on LSP and LSN externally.
Move till Z-phase signal
Travel is made until the travel distance is reached and the first Z-phase signal in the travelling
direction turns on.
Travel distance unit selection
Select with the option buttons whether the travel distance set in is in the command pulse
unit or in the encoder pulse unit.
When the command input pulse unit is selected, the value, which is the set travel distance
multiplied by the electronic gear, will be the command value. When the encoder pulse unit is
selected, the travel distance is not multiplied by the electronic gear.

! Enable repeat operation

To perform repeat operation, click the check. The initial setting and setting range for the repeat
operation are listed in the following table.

Fwd. rot. (CCW) to rev. rot. (CW)
Fwd. rot. (CCW) to fwd. rot. (CCW)
Repeat pattern Fwd. rot. (CCW) to rev. rot. (CW)
Rev. rot. (CW) to fwd. rot. (CCW)
Rev. rot. (CW) to rev. rot. (CW)
Dwell time [s] 2.0 0.1 to 50.0
Number of operations [times] 1 1 to 9999
Tab. 6-8:Initial settings for repeat operation
To perform continuous operation with the repeat pattern and dwell time settings, which are
set by referring to the above table, click the check box of “Make the aging function enabled”.
Forward/reverse the servo motor
Click the “Forward” button to rotate the servo motor in the forward rotation direction.
Click the “Reverse” button to rotate the servo motor in the reverse rotation direction.
Pause the servo motor
Click the “Pause“ button during servo motor rotation to temporarily stop the servo motor. This
button is enabled during servo motor rotation.
Stop the servo motor
Click the “Stop” button during servo motor rotation to stop the servo motor.
Forced stop
Click the “Forced stop” button during servo motor rotation to make a sudden stop. This button
is enabled during servo motor rotation.
Operation status
The operation status during the repeat operation, and the number of operations are displayed.
Axis No.
Axis No. in operation is displayed.
Termination of positioning operation window
Click the close button to cancel the positioning operation mode and close the window.
● Status display
The status display can be monitored during positioning operation.
6 - 20
Motor-less operation
Without connecting the servo motor, output signals or status display can be provided in response to
the input device as if the servo motor is actually running. This operation can be used to check the
sequence of a controller or the like.
● Start of motor-less operation
After setting “1” in Parameter PC60, cycle the power. After that, perform external operation
as in ordinary operation.
● Termination of motor-less operation
To terminate the motor-less operation, set Parameter PC60 to “0” and then turn the power
off.
Program operation
Positioning operation can be performed in two or more operation patterns combined, without using
a controller. Use this operation with the forced stop reset. This operation may be used independently
of whether servo-on or servo-off and whether a controller is connected or not.
Exercise control on the program operation screen of MR Configurator2. For full information, refer to
the MR Configurator2 Installation Guide
Operation Screen control Tab. 6-9: Buttons for program operation

Start Click the “Operation start” button.
Stop Click the “Stop” button.
Forced stop Click the “Forced stop” button.
Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. This function is used
for output signal wiring check, etc. Exercise control on the DO forced output screen of
MR Configurator2.

Operation and Settings Display and operation section of MR-J4-B(-RJ) series
6.2 Display and operation section of MR-J4-B(-RJ) series

On the servo amplifier display (three-digit, seven-segment LED), check the status of communication
with the servo system controller at power-on, and the axis number, and diagnose a malfunction at
occurrence of an alarm.
Switching to the test operation mode, deactivating control axes, and setting control axis No. are ena-
bled with switches on the servo amplifier.
6.2.1 Overview
ON

1 2 3 4
MR-J4-B Anzeige_Bedienelemente.eps
Fig. 6-14: Display and controls of MR-J4-B(-RJ)
No. Name Description Refer to

The 3-digit, seven-segment LED shows the servo status section 6.2.2
Display
and alarm number section 6.2.3
SW1:
7 8 9 Rotary axis set-
A
3 4 5 6
ting switch
B C DE
Used to set the axis number of the servo amplifier.

page 4-26
(Axis No. 1–16)
2
F 0 1
SW2: Control axis setting switch

SW2-1 is used to perform the test operation mode.
ON SW2-2 is used for disabling the control axis. page 6-27

SW2-3 and 2-4 are auxiliary switches for setting the axis page 4-26
1 2 3 4 No. 17–64
Tab. 6-10: Controls and function
Disabling control axis switch (SW2-2)

Turning “ON (up)” the disabling control axis switch disables the corresponding servo motor. The servo
motor will be disabled-axis status and will not be recognized by the controller.
Fig. 6-15: SW2-2 is switched ON

ON
1 2 3 4
Control axis deactivation switch MR-J4-B DIP 0100.eps
6 - 22
Display and operation section of MR-J4-B(-RJ) series Operation and Settings
6.2.2 Scrolling display

Normal display
When there is no alarm, the axis No. and blank are displayed in rotation.
After 1.6 s
Status Blank
After 0.2 s
Status Axis No.

(1 digit) (2 digits)
“b”: Indicates ready-off and servo-off status.

“C”: Indicates ready-on and servo-off status.
“d”: Indicates ready-on and servo-on status.
MR-J4-B Anzeigewechsel Normalbetrieb.eps
Fig. 6-16: Alternating display in normal operation
Alarm display
When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed fol-
lowing the status display. For example, the following shows when AL. 32 (Overcurrent) is occurring.
After 0.8 s After 0.8 s
Status Alarm No. Blank
After 0.2 s
Status Axis No. Alarm No. Alarm detail

(1 digit) (2 digits) (2 digits) (1 digit)
“n”: Indicates that an alarm is occurring.

MR-J4-B Anzeigewechsel Alarm.eps
Fig. 6-17: Alternating display when alarm occurs

6.2.3 Display sequence
Servo amplifier power ON
System check in progress
Waiting for servo system controller power to switch ON

(SSCNET III communication)
Servo system controller power on

(SSCNET III/H communication begins)
Initial data communication with the servo system controller

(initialization communication)
When an alarm No. or warning No. is displayed

Ready-off and servo-off Example: When AL. 50 (Overload 1)
occurs at axis No. 1
Flickering
Ready-on After 0.8 s
Flickering
Ready-on and servo-off After 0.8 s
When alarm occurs,
its alarm code Blank
appears.
Servo-on
Example: When AL. E1 (Overload
warning 1) occurs at axis No. 1
Ready-on and servo-on Flickering
After 0.8 s
Flickering
Ordinary operation
After 0.8 s
Blank
Servo system controller power off
During a non servo-off causing warning, the
decimal point on the third digit LED shows
the servo-on status.
Alarm reset or warning cleared

MR-J4-B Flussdiagramm Anzeige.eps
Fig. 6-18: Status display of an axis

The segment of the last 2 digits shows the axis number.
Axis Axis Axis
No. 1 No. 2 No. 64
6 - 24
b
WARNING:
● The test operation mode is designed for checking servo operation. It is not for checking
machine operation. Do not use this mode with the machine. Always use the servo motor
alone.
● If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
By using a personal computer and MR Configurator2, you can execute jog operation, positioning
operation, DO forced output program operation without connecting the servo system controller.
NOTES The content described in this section indicates that the servo amplifier and a personal computer
are directly connected.
For full information, refer to the MR Configurator2 Installation Guide.
Test operation mode in MR Configurator2
NOTE When the test operation mode is selected with the test operation select switch (SW2-1), the
SSCNET III/H communication for the servo amplifier in the test operation mode and the following
servo amplifiers is blocked.
● JOG operation
JOG operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation may be used independently of whether the servo is on
or off and whether the servo system controller is connected or not.
Exercise control on the jog operation screen of MR Configurator2.
Speed [1/min] 200 0 to max. speed

1000 0 to 50000
time constant [ms]
Tab. 6-11: Operation pattern for jog operation
Operation method
Operation Screen control Tab. 6-12:

Keep pressing the “Forward” When the check box of “Rotation only while the
Forward rotation start CCW or CW button is being pushed.” is checked.
button.
Keep pressing the “Reverse”
Reverse rotation start
button.
Release the “Forward” or
Stop
“Reverse” button.


Forward rotation start Click the “Forward” button. When the check box of “Rotation only while the
CCW or CW button is being pushed.” is not checked.
Reverse rotation start Click the “Reverse” button.
● Positioning operation
Positioning operation can be performed without using the servo system controller. Use this
operation with the forced stop reset. This operation may be used independently of whether the
servo is on or off and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
Travel distance [pulse] 4000 0 to 99999999

Acceleration/deceleration time con-
1000 0 to 50000
stant [ms]
Tab. 6-14: Operation pattern for positioning operation

Forward rotation start Click the “Forward” button. Operation method for positioning operation
● Program operation
Positioning operation can be performed in two or more operation patterns combined, without
using the servo system controller. Use this operation with the forced stop reset. This operation
may be used independently of whether the servo is on or off and whether the servo system
controller is connected or not.
Exercise control on the program operation screen of MR Configurator2.

Start Click the “Start” button. Operation method for program operation
Pause Click the “Pause” button.
6 - 26
● Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function
MR Configurator2.
Operation procedure
Turn off the power.
Turn “ON (up)” SW2-1.
ON
ON
Set SW2-1 to “ON (up)”.
1 2 3 4
1 2 3 4
MR-J4-B SW2-Einstellung.eps/MR-J4-B DIP 1000.eps
Fig. 6-19: Setting of SW2-1 for test operation
Turning “ON (up)” SW2-1 during power-on will not start the test operation mode.
Turn on the servo amplifier.
When initialization is completed, the decimal point on the first digit will flicker.
After 1.6 s
Flickering
After 0.2 s
When an alarm or warning also occurs during the test operation, the decimal point on the first
digit will flicker as follows.
Flickering Flickering
After 0.2 s
Start operation with the personal computer.

6.2.5 Motor-less operation in controller
NOTES Use motor-less operation which is available by making the servo system controller parameter
setting.
Connect the servo system controller to the servo amplifier before the motor-less operation.
The motor-less operation using a controller is available with rotary servo motors only. It will be
available with linear servo motors and direct drive motors in the future.
Without connecting the servo motor to the servo amplifier, output signals or status displays can be
provided in response to the servo system controller commands as if the servo motor is actually run-
ning. This operation may be used to check the servo system controller sequence. Use this operation
with the forced stop reset. Use this operation with the servo amplifier connected to the servo system
controller.
To stop the motor-less operation, set the motor-less operation selection to “Disable” in the servo
parameter setting of the servo system controller. When the power supply is turned on next time,
motorless operation will be disabled.
Load item Condition Tab. 6-17:

Load torque 0 Load conditions for motor-less operation
Load to motor inertia Same as the moment of inertia
ratio of the servo motor
The following alarms and warning do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.
Rotary servo
Rotary servo Linear servo Direct drive motor in fully
Alarm and warning
motor motor servo motor closed loop
system
AL. 16 (Encoder initial communication error 1) ✔ ✔ ✔ ✔
AL. 1E (Encoder initial communication error 2) ✔ ✔ ✔ ✔
AL. 1F (Encoder initial communication error 3) ✔ ✔ ✔ ✔
AL. 20 (Encoder normal communication error 1) ✔ ✔ ✔ ✔
AL. 25 (Absolute position erased) ✔ — ✔ ✔
AL. 28 (Linear encoder error 2) — ✔ — ✔
AL. 2A (Linear encoder error 1) — ✔ — ✔
AL. 2B (Encoder counter error) — — ✔ —
AL. 92 (Battery cable disconnection warning) ✔ — ✔ ✔
AL. 9F (Battery warning) ✔ — ✔ ✔
AL. 70 (Load-side encoder error 1) — — — ✔
Tab. 6-18: Alarms and warnings during motor-less operation

The fully closed loop system is available for the MR-J4-B(-RJ) servo amplifiers of which soft-
ware version is A3 or above. Check the software version using MR Configurator2.
6 - 28
Operation procedure
Set the servo amplifier to the servo-off status.
Set Parameter PC05 to “1”, turn “OFF (down: normal condition side)” the test operation mode
switch (SW2-1), and then turn on the power supply.
ON
ON
Set SW2-1 to “OFF (down)”.
1 2 3 4
1 2 3 4
MR-J4-B SW2-Einstellung.eps/MR-J4-B DIP 0000.eps
Fig. 6-20: Setting of SW2-1 for motor-less operation
Start the motor-less operation with the servo system controller.

The display shows the following screen.
The decimal point flickers.

Operation and Settings Display and operation section of MR-J4W-B series
6.3 Display and operation section of MR-J4W-B series

On the servo amplifier display (three-digit, seven-segment LED), check the status of communication
with the servo system controller at power-on, and the axis number, and diagnose a malfunction at
occurrence of an alarm.
Switching to the test operation mode, deactivating control axes, and setting control axis No. are ena-
bled with switches on the servo amplifier.
6.3.1 Overview
ON

1 2 3 4 5 6
MR-J4W-B Anzeige_Bedienelemente.eps
Fig. 6-21: Display and controls of MR-J4-B
No. Name Description Refer to

The 3-digit, seven-segment LED shows the servo status section 6.2.2
Display
and alarm number section 6.2.3
SW1:
7 8 9 Rotary axis set-
A
3 4 5 6
ting switch
B C DE
Used to set the axis number of the servo amplifier.

page 4-27
(Axis No. 1–16)
2
F 0 1
USB connector (CN5) Connect with PC for communication section 4.4.2

SW2: Control axis setting switch SW2-1 is used to perform the test operation mode.
ON SW2-2, 2-3, 2-4 are used for disabling the control axes
page 6-35
A/B/C . page 4-27
1 2 3 4 5 6 SW2-5 and 2-6 are auxiliary switches for setting the axis
No. 17–64
Tab. 6-19: Controls and function

SW2-4 is only for the 3-axes model MR-J4W3-B to disable axis C. With the 2-axes model MR-J4W2-B
SW2-4 is for manufacturer setting.
Disabling control axis switches (SW2-2, SW2-3, and SW2-4)

For disabling the control axes refer to section 4.7.
6 - 30
Display and operation section of MR-J4W-B series Operation and Settings
6.3.2 Scrolling display

Displaying the status of each axis in rotation enables you to check the status of all axes.
Normal display
When there is no alarm, the status of all axes are displayed in rotation.
After 1.6 s After 0.2 s After 1.6 s After 0.2 s After 1.6 s After 0.2 s After 1.6 s
MR-J4
2-axis
servo
amplifier A-axis status Blank B-axis status Blank A-axis status Blank B-axis status Blank
After 0.2 s
After
1.6 s After 0.2 s After 1.6 s After 0.2 s After 1.6 s After 0.2 s After 1.6 s
MR-J4
3-axis
servo
amplifier A-axis status Blank B-axis status Blank C-axis status Blank Blank
After 0.2 s
Status Axis No.

(1 digit) (2 digits)
“b”: Indicates ready-off and servo-off status.

“C”: Indicates ready-on and servo-off status.
“d”: Indicates ready-on and servo-on status.
MR-J4W-B Anzeigewechsel Normalbetrieb.eps
Fig. 6-22: Alternating display in normal operation
Alarm display
When an alarm occurs, the alarm number (two digits) and the alarm detail (one digit) are displayed fol-
lowing the status display. For example, the following shows when AL. 16 (Encoder initial communi-
cation error 1 is occurring at the A-axis, and AL. 32 (Overcurrent) is occurring at the B-axis
simultaneously.
After After After

0.8 s After 0.8 s After 0.2 s 0.8 s 0.8 s
MR-J4 2-axis
servo amplifier
A-axis status A-axis Blank B-axis B-axis alarm Blank

alarm No. status No.
After 0.2 s
Status Axis No. Alarm No. Alarm detail

(1 digit) (2 digits) (2 digits) (1 digit)
“n”: Indicates that an alarm is occurring.

MR-J4W-B Anzeigewechsel Alarm.eps
Fig. 6-23: Alternating display when alarm occurs

6.3.3 Display sequence
Servo amplifier power ON
System check in progress
Waiting for servo system controller power to switch ON

(SSCNET III communication)

(SSCNET III/H communication begins)
Initial data communication with the servo system controller

(initialization communication)
When an alarm No. or warning No. is displayed

Ready-off and servo-off Example: When AL. 50 (Overload 1)
occurs at axis No. 1
Flickering
Ready-on After 0.8 s
Flickering
Ready-on and servo-off After 0.8 s
When alarm occurs,
its alarm code Blank
appears.
Servo-on
Example: When AL. E1 (Overload
warning 1) occurs at axis No. 1
Ready-on and servo-on Flickering
After 0.8 s
Flickering
Ordinary operation
After 0.8 s
Blank
Servo system controller power off
During a non servo-off causing warning, the
decimal point on the third digit LED shows
the servo-on status.
Alarm reset or warning cleared

MR-J4-B Flussdiagramm Anzeige.eps
Fig. 6-24: Status display of an axis

The segment of the last 2 digits shows the axis number.
Axis Axis Axis
No. 1 No. 2 No. 64
6 - 32
b
WARNING:
● The test operation mode is designed for checking servo operation. It is not for checking
machine operation. Do not use this mode with the machine. Always use the servo motor
alone.
● If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
By using a personal computer and MR Configurator2, you can execute jog operation, positioning
operation, DO forced output program operation without connecting the servo system controller.
NOTES The content described in this section indicates that the servo amplifier and a personal computer
are directly connected.
For full information, refer to the MR Configurator2 Installation Guide.
Test operation mode in MR Configurator2
NOTES All axes will be in the test operation mode for the multi-axis servo amplifier. Although only one
axis is active in the mode.
When the test operation mode is selected with the test operation select switch (SW2-1), the
SSCNET III/H communication for the servo amplifier in the test operation mode and the following
servo amplifiers is blocked.
● JOG operation
JOG operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation may be used independently of whether the servo is on
or off and whether the servo system controller is connected or not.
Exercise control on the jog operation screen of MR Configurator2.

1000 0 to 50000
time constant [ms]
Tab. 6-20: Operation pattern for jog operation
Operation method

Keep pressing the “Forward” When the check box of “Rotation only while the
Forward rotation start CCW or CW button is being pushed.” is checked.
button.
Keep pressing the “Reverse”
Reverse rotation start
button.
Release the “Forward” or
Stop
“Reverse” button.


Forward rotation start Click the “Forward” button. When the check box of “Rotation only while the
CCW or CW button is being pushed.” is not checked.
● Positioning operation
Positioning operation can be performed without using the servo system controller. Use this
operation with the forced stop reset. This operation may be used independently of whether the
servo is on or off and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of MR Configurator2.
Travel distance [pulse] 4000 0 to 99999999

Acceleration/deceleration time con-
1000 0 to 50000
stant [ms]
Tab. 6-23: Operation pattern for positioning operation

Forward rotation start Click the “Forward” button. Operation method for positioning operation
● Program operation
Positioning operation can be performed in two or more operation patterns combined, without
using the servo system controller. Use this operation with the forced stop reset. This operation
may be used independently of whether the servo is on or off and whether the servo system
controller is connected or not.
Exercise control on the program operation screen of MR Configurator2.

Start Click the “Start” button. Operation method for positioning operation
Pause Click the “Pause” button.
6 - 34
● Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function
MR Configurator2.
Operation procedure
Turn off the power.
Turn “ON (up)” SW2-1.
ON
ON
1 2 3 4 5 6 Set SW2-1 to “ON (up)”.
1 2 3 4 5 6
MR-J4W-B SW2-Einstellung.eps/MR-J4W-B DIP 100000.eps
Fig. 6-25: Setting of SW2-1 for test operation
Turning “ON (up)” SW2-1 during power-on will not start the test operation mode.
Turn on the servo amplifier.
When initialization is completed, the decimal point on the first digit will flicker.
After 1.6 s After 0.2 s After 1.6 s
After 0.2 s
When an alarm or warning also occurs during the test operation, the decimal point on the first
digit will flicker as follows.
After 0.2 s
Start operation with the personal computer.

6.3.5 Motor-less operation in controller
NOTES Use motor-less operation which is available by making the servo system controller parameter
setting
Connect the servo system controller to the servo amplifier before the motor-less operation.
The motor-less operation using a controller is available with rotary servo motors only. It will be
available with linear servo motors and direct drive motors in the future.
Without connecting the servo motor to the servo amplifier, output signals or status displays can be
provided in response to the servo system controller commands as if the servo motor is actually run-
ning. This operation may be used to check the servo system controller sequence. Use this operation
with the forced stop reset. Use this operation with the servo amplifier connected to the servo system
controller.
To stop the motor-less operation, set the motor-less operation selection to “Disable” in the servo
parameter setting of the servo system controller. When the power supply is turned on next time,
motorless operation will be disabled.
Load item Condition Tab. 6-26:

Load torque 0 Load conditions for motor-less operation
Load to motor inertia Same as the moment of inertia
ratio of the servo motor
The following alarms and warning do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.
Rotary servo
Rotary servo Linear servo Direct drive motor in fully
Alarm and warning
motor motor servo motor closed loop
system
AL. 16 (Encoder initial communication error 1) ✔ ✔ ✔ ✔
AL. 1E (Encoder initial communication error 2) ✔ ✔ ✔ ✔
AL. 1F (Encoder initial communication error 3) ✔ ✔ ✔ ✔
AL. 25 (Absolute position erased) ✔ — ✔ ✔
AL. 28 (Linear encoder error 2) — ✔ — ✔
AL. 2A (Linear encoder error 1) — ✔ — ✔
AL. 2B (Encoder counter error) — — ✔ —
AL. 92 (Battery cable disconnection warning) ✔ — ✔ ✔
AL. 9F (Battery warning) ✔ — ✔ ✔
Tab. 6-27: Alarms and warnings during motor-less operation

The fully closed loop system is available for the MR-J4W2-B servo amplifiers of which software
version is A3 or above. Check the software version using MR Configurator2.
6 - 36
Operation procedure
Set the servo amplifier to the servo-off status.
Set parameter PC05 to “1”, turn “OFF (down: normal condition side)” the test operation
mode switch (SW2-1), and then turn on the power supply.
ON
ON
1 2 3 4 5 6 Set SW2-1 to “OFF (down)”.
1 2 3 4 5 6
MR-J4W-B SW2-Einstellung.eps/MR-J4W-B DIP 000000.eps
Fig. 6-26: Setting of SW2-1 for motor-less operation
Start the motor-less operation with the servo system controller.

The display shows the following screen.
The decimal point flickers.

6 - 38
MR-J4-A Parameters
7 Parameters
b
WARNING:
● Never make a drastic adjustment or change to the parameter values as doing so will make
the operation unstable.
● If fixed values are written in the digits of a parameter, do not change these values.
● Do not change parameters for manufacturer setting.
● Do not set a value other than the described values to each parameter.
7.1 MR-J4-A
7.1.1 Basic setting parameters
NOTES To enable a parameter whose symbol is preceded by *, cycle the power after setting it.
Abbreviations of operation modes indicate the followings.

– Standard: Standard (semi closed loop system) use of the rotary servo motor
– Full.: Fully closed loop system use of the rotary servo motor
– Lin.: Linear servo motor use
– DD: Direct drive (DD) motor use
The symbols in the control mode column mean as follows.

– P: Position control mode
– S: Speed control mode
– T: Torque control mode

Parameters MR-J4-A
Parameters PA
Operation Control
mode mode
Initial
Standard
No. Symbol Name Unit
value
Full.
Lin.
DD
P
T
S
PA01 *STY Operation mode 1000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA02 *REG Regenerative option 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA03 *ABS Absolute position detection system 0000H — ✔ ✔ ✔ ✔ ✔ — —
PA04 *AOP1 Function selection A-1 2000H — ✔ ✔ ✔ ✔ ✔ ✔ —
PA05 *FBP Number of command input pulses per revolution 10000 — ✔ ✔ ✔ ✔ ✔ — —
PA06 CMX Electronic gear numerator (command pulse multiplication numerator) 1 — ✔ ✔ ✔ ✔ ✔ — —
Electronic gear denominator
PA07 CDV 1 — ✔ ✔ ✔ ✔ ✔ — —
(command pulse multiplication denominator)
PA08 ATU Auto tuning mode 0001H — ✔ ✔ ✔ ✔ ✔ ✔ —
PA09 RSP Auto tuning response 16 — ✔ ✔ ✔ ✔ ✔ ✔ —
PA10 INP In-position range 100 pulse ✔ ✔ ✔ ✔ ✔ — —
PA11 TLP Forward rotation torque limit/positive direction thrust limit 100.0 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA12 TLN Reverse rotation torque limit/negative direction thrust limit 100.0 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA13 *PLSS Command pulse input form 0100H — ✔ ✔ ✔ ✔ ✔ — —
PA14 *POL Rotation direction selection/travel direction selection 0 — ✔ ✔ ✔ ✔ ✔ — —
PA15 *ENR Encoder output pulses 4000 pulse/rev ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA16 *ENR2 Encoder output pulses 2 1 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA17 *MSR Servo motor series setting 0000H — — — ✔ — ✔ ✔ ✔
PA18 *MTY Servo motor type setting 0000H — — — ✔ — ✔ ✔ ✔
PA19 *BLK Parameter writing inhibit 00AAH — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA20 *TDS Tough drive setting 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA22 — For manufacturer setting 0000H — — — — — — — —
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA24 AOP4 Function selection A-4 0000H — ✔ ✔ ✔ ✔ ✔ ✔ —
PA25 OTHOV One-touch tuning – Overshoot permissible level 0 % ✔ ✔ ✔ ✔ ✔ ✔ —
PA27 — 0000H — — — — — — — —
PA28 — 0000H — — — — — — — —
PA29 — 0000H — — — — — — — —
For manufacturer setting
PA30 — 0000H — — — — — — — —
PA31 — 0000H — — — — — — — —
PA32 — 0000H — — — — — — — —
Tab. 7-1: List of basic setting parameters for MR-J4-A
7-2
MR-J4-A Parameters
Description of basic setting parameters
Control
Number Symbol Initial value Unit Setting range
mode
PA01 *STY 1000H Refer to text PST

Operation mode
1 0
Control mode selection
0: Position control
1: Position and speed control
2: Speed control
3: Speed and torque control
4: Torque control
5: Torque and position control
Operation mode selection
0: Standard control mode
1: Fully closed loop control mode
4: Linear servo motor control mode
6: DD motor control mode (except 400 V class servo amplifiers)
Setting other than above will trigger AL. 37 (Parameter error). The linear servo system, direct drive
servo system and fully closed loop system are available for the MR-J4-A(-RJ) servo amplifiers of
which software version is A5 or later.

10: Manufacturer setting
PA02 *REG 0000H Refer to text PST

Regenerative option
0 0
Select the regenerative option.
00: Regenerative option is not used.
- For the servo amplifier of 100 W, a regenerative resistor is not used.
- For the servo amplifier of 0.2 kW to 7 kW, the built-in regenerative resistor is used.
- The supplied regenerative resistor or a regenerative option is used with the servo amplifier of
11 kW to 22 kW.
01: FR-RC-(H)/FR-CV-(H)/FR-BU2-(H)
When you use FR-RC-(H), FR-CV-(H) or FR-BU2-(H), select “Mode 2 (1)” in parameter PC27
(Undervoltage alarm detection mode selection).
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (Cooling fan is required.)
08: MR-RB31
0B: MR-RB3N
0C: MR-RB5N (Cooling fan is required.)
80: MR-RB1H-4
81: MR-RB3M-4 (Cooling fan is required.)
82: MR-RB3G-4 (Cooling fan is required.)
84: MR-RB34-4 (Cooling fan is required.)
91: MR-RB3U-4 (Cooling fan is required.)
FA: When the supplied regenerative resistor or a regenerative option used with the servo amplifier
of 11 kW to 22 kW is cooled by a cooling fan to increase regenerative ability.

Incorrect setting may cause the regenerative option to burn.
If a selected regenerative option is not for use with the servo amplifier, AL. 37 (Parameter error) occurs.
Tab. 7-2: Detailed overview of parameters PA for MR-J4-A (1)

Parameters MR-J4-A
Control
mode
PA03 *ABS 0000H Refer to text P

Absolute position detection system
0 0 0
Absolute position detection system selection
0: Disabled (incremental system)
1: Enabled (absolute position detection system by DIO)
2: Enabled (absolute position detection system by communication)
(available for the software version A3 or later)
Set this parameter when using the absolute position detection system in the position control mode.
PA04 *AOP1 2000H Refer to text PS

Function selection A-1
0 0 0
Forced stop deceleration function selection
0: Forced stop deceleration function disabled (with EM1)
2: Forced stop deceleration function enabled (with EM2)
Refer to the following table for details.
Deceleration method
Setting value EM2/EM1
EM2 or EM1 is off Alarm occurred
MBR (Electromagnetic brake MBR (Electromagnetic brake
0 EM1 interlock) turns off without the interlock) turns off without the
forced stop deceleration. forced stop deceleration.
2 EM2 interlock) turns off after the interlock) turns off after the
PA05 *FBP 10000 1000–1000000 P

Number of command input pulses per revolution
The servo motor rotates based on set command input pulses.
To enable the parameter value, set “Electronic gear selection” to “Number of command input pulses per revolution
(1)” in parameter PA21. “1” cannot be set in parameter PA21 in the linear control mode.
7-4
MR-J4-A Parameters
Control
mode
PA06 CMX 1 1–16777215 P

Electronic gear numerator (command pulse multiplication numerator)
Set the numerator of the electronic gear.
To enable the parameter, set “Electronic gear selection” to “Electronic gear (0)” or “J3A electronic gear setting value
compatibility mode (2)” in parameter PA21.
The following shows a standard of the setting range of the electronic gear.
1 CMX
< < 4000
10 CDV
If the set value is outside this range, noise may be generated during acceleration/deceleration or operation may not be per-
formed at the preset speed and/or acceleration/deceleration time constants.
Number of command input pulses per revolution (Parameter PA05: “1000” to “1000000”)
Electronic gear selection Electronic gear

(x) (Parameter PA21) (Parameter PA06/PA07)
“0” (initial value) CMX

CDV [pulse/rev]
Servo motor
Command “1” Pt + Deviation
pulse train M
FBP - counter
“2” CMX
X16
CDV
Encoder
Pt (servo motor resolution): 4194304 pulses/rev
Always set the electronic gear with servo-off state to prevent unexpected operation due to improper setting.
PA07 CDV 1 1–16777215 P

Electronic gear denominator (command pulse multiplication denominator)
Set the denominator of the electronic gear.
To enable the parameter, set “Electronic gear selection” to “Electronic gear (0)” or “J3A electronic gear setting value
compatibility mode (2)” in parameter PA21.

Parameters MR-J4-A
Control
mode
PA08 ATU 0001H Refer to text PS

Auto tuning mode
Gain adjustment mode selection
0 0 0
Select the gain adjustment mode.
0: 2 gain adjustment mode 1 (interpolation mode)
1: Auto tuning mode 1
3: Manual mode
4: 2 gain adjustment mode 2
Setting value Gain adjustment mode Automatically adjusted parameter

PB06 (Load to motor inertia ratio)
2 gain adjustment mode 1 PB08 (Position loop gain)
0
(interpolation mode) PB09 (Speed loop gain)
PB10 (Speed integral compensation)
PB07 (Model loop gain)
1 Auto tuning mode 1 PB08 (Position loop gain)
PB09 (Speed loop gain)
PB08 (Position loop gain)
2 Auto tuning mode 2
3 Manual mode —
4 2 gain adjustment mode 2 PB09 (Speed loop gain)
7-6
MR-J4-A Parameters
Control
mode
PA09 RSP 16 1–40 PS

Auto tuning response
Set a response of the auto tuning.
Machine characteristic Machine characteristic
Guideline for Guideline for
Setting value machine Setting value machine
Response Response
resonance resonance
frequency [Hz] frequency [Hz]
1 low 2.7 21 middle 67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20 middle 59.6 40 high 642.7
PA10 INP 100 pulse 0–65535 P

In-position range
Set an in-position range per command pulse.
To change it to the servo motor encoder pulse unit, set parameter PC24.
PA11 TLP 100.0 % 0.0–100.0 PST

Forward rotation torque limit/positive direction thrust limit
You can limit the torque or thrust generated by the servo motor. Set the parameter referring to the instruction manual.
When you output torque or thrust as analog monitor output, the larger value of parameter PA11 (Forward rotation torque
limit/positive direction thrust limit value) or PA12 (Reverse rotation torque limit/negative direction thrust limit value) will be
the maximum output voltage (8 V).
Set the parameter on the assumption that the maximum torque or thrust is 100.0 [%].
The parameter is for limiting the torque of the servo motor in the CCW power running or CW regeneration, or limiting the
thrust of the linear servo motor in the positive direction power running or negative direction regeneration. Set this parame-
ter to “0.0” to generate no torque or thrust.
PA12 TLN 100.0 % 0.0–100.0 PST

Reverse rotation torque limit/negative direction thrust limit
You can limit the torque or thrust generated by the servo motor.
When you output torque or thrust with analog monitor output, the larger value of parameter PA11 (Forward rotation torque

Parameters MR-J4-A
Control
mode
PA13 *PLSS 0100H Refer to text P

Command pulse input form
0
Command input pulse train form selection
0: Forward/reverse rotation pulse train
1: Signed pulse train
2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after multiplying by four.)
Refer to the following table for settings.
Pulse train logic selection
0: Positive logic
1: Negative logic
Command input pulse train filter selection
Selecting proper filter enables to enhance noise immunity.
0: Command input pulse train is 4 Mpulses/s or less.
1: Command input pulse train is 1 Mpulse/s or less.
2: Command input pulse train is 500 kpulses/s or less.
3: Command input pulse train is 200 kpulses/s or less (available for the software version A5 or later)
1 Mpulse/s or lower commands are supported by “1”. When inputting commands over 1 Mpulse/s
and 4 Mpulses/s or lower, set “0”.
Incorrect setting may cause the following malfunctions.
– Setting a value higher than actual command will lower noise immunity.
– Setting a value lower than actual command will cause a position mismatch.
Forward rotation Reverse rotation

Setting value Pulse train form (positive direction) (negative direction)
command command
Forward rotation pulse
train (positive direction PP
pulse train)
10H
Reverse rotation pulse NP
train (negative direction
pulse train)
Negative logic
PP
11H Pulse train + sign

L H
NP
A-phase pulse train PP

12H
B-phase pulse train
NP

pulse train)
00H
Reverse rotation pulse
train (negative direction NP
pulse train)
Positive logic
PP
NP L
H
PP
A-phase pulse train
02H
B-phase pulse train NP
Arrows in the table indicate the timing of importing pulse trains. A-phase and B-phase pulse trains are imported after they
have been multiplied by 4.
7-8
MR-J4-A Parameters
Control
mode
PA14 *POL 0 0, 1 P
Rotation direction selection/travel direction selection
Select the servo motor rotation direction or linear servo motor travel direction for the input pulse train.
Servo motor rotation direction Servo motor rotation direction/
Setting linear servo motor travel direction
Forward rotation (CCW) value When forward rotation When reverse rotation
pulse is input pulse is input
CCW or positive CW or negative
0
direction direction
CW or negative CCW or positive
Reverse rotation (CW) 1
direction direction
The positive/negative directions of the linear servo motor are as follows.
Negative direction
Negative direction Secondary side Secondary side
Positive direction
Positive direction ble
Ta
Primary side
Primary side Secondary side

Positive direction
Primary side
Negative direction
LM-H3/LM-F series LM-U2 series LM-K2 series
PA15 *ENR 4000 pulse/rev 1–4194304 PST

Encoder output pulses
Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution, dividing ratio,
or electronic gear ratio (after multiplication by 4).
To set a numerator of the electronic gear, select “A-phase/B-phase pulse electronic gear setting (3)” of “Encoder out-
put pulse setting selection” in parameter PC19.
The maximum output frequency is 4.6 Mpulses/s. Set the parameter within this range.
PA16 *ENR2 1 1–4194304 PST

Encoder output pulses 2
Set a denominator of the electronic gear for the A/B-phase pulse output.
To set a denominator of the electronic gear, select “A-phase/B-phase pulse electronic gear setting (3)” of “Encoder
output pulse setting selection” in parameter PC19.

Parameters MR-J4-A
Control
mode
PA17 *MSR 0000H Refer to text PST

Servo motor series setting
When you use a linear servo motor, select its model from parameters PA17 and PA18. Set this and parameter PA18 at a time.
Linear servo motor Servo motor model Parameter setting
series (primary side) PA17 PA18
LM-H3P2A-07P-BSS0 2101H
LM-H3P3A-12P-CSS0 3101H
LM-H3P3B-24P-CSS0 3201H
LM-H3P3C-36P-CSS0 3301H
LM-H3 LM-H3P3D-48P-CSS0 00BBH 3401H
LM-H3P7A-24P-ASS0 7101H
LM-H3P7B-48P-ASS0 7201H
LM-H3P7C-72P-ASS0 7301H
LM-H3P7D-96P-ASS0 7401H
LM-U2PAB-05M-0SS0 A201H
LM-U2PAD-10M-0SS0 A401H
LM-U2PAF-15M-0SS0 A601H
LM-U2PBB-07M-1SS0 B201H
LM-U2 LM-U2PBD-15M-1SS0 00B4H B401H
LM-U2PBF-22M-1SS0 2601H
LM-U2P2B-40M-2SS0 2201H
LM-U2P2C-60M-2SS0 2301H
LM-U2P2D-80M-2SS0 2401H
LM-FP2B-06M-1SS0 2201H
LM-FP2D-12M-1SS0 2401H
LM-FP2F-18M-1SS0 2601H
LM-FP4H-48M-1SS0 4801H
LM-F 00B2H
LM-K2P1A-01M-2SS1 1101H
LM-K2P1C-03M-2SS1 1301H
LM-K2P2A-02M-1SS1 2101H
LM-K2 LM-K2P2C-07M-1SS1 00B8H 2301H
LM-K2P2E-12M-1SS1 2501H
LM-K2P3C-14M-1SS1 3301H
LM-K2P3E-24M-1SS1 3501H
PA18 *MTY 0000H Refer to text PST

Servo motor type setting
When you use a linear servo motor, select its model from parameter PA17 and PA18.
Set this and parameter PA17 at a time.
Refer to the table of parameter PA17 for settings.

Natural cooling

Liquid cooling
7 - 10
MR-J4-A Parameters
Control
mode
PA19 *BLK 00AAH Refer to text PST

Parameter writing inhibit
Select a reference range and writing range of the parameter.
Setting
PA19 PA PB PC PD PE PF PL
operation
Other than Reading ✔ — — — — — —
below Writing ✔ — — — — — —
Only
Reading — — — — — —
19
000AH
Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ — — — —
000BH
Writing ✔ ✔ ✔ — — — —
Reading ✔ ✔ ✔ ✔ — — —
000CH
Writing ✔ ✔ ✔ ✔ — — —
00AAH Reading ✔ ✔ ✔ ✔ ✔ ✔ —
(initial
value) Writing ✔ ✔ ✔ ✔ ✔ ✔ —
Reading ✔ ✔ ✔ ✔ ✔ ✔ ✔
00ABH
Writing ✔ ✔ ✔ ✔ ✔ ✔ ✔
Reading ✔ — — — — — —
100BH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ — — —
100CH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ ✔ —
10AAH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ ✔ ✔
10ABH Only
Writing — — — — — —
19
PA20 *TDS 0000H Refer to text PST

Tough drive setting
Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load
fluctuation.
You can assign MTTR (During tough drive) to the pins CN1-22 to CN1-25 and CN1-49 with parameters PD23 to PD26 and
PD28.
0 0
Vibration tough drive selection
0: Disabled
1: Enabled
Selecting “1” enables to suppress vibrations by automatically changing setting values of parameters
PB13 (Machine resonance suppression filter 1) and PB15 (Machine resonance suppression filter 2) in
case that the vibration exceed the value of the oscillation level set in parameter PF23.
To output the oscillation detection alarm as a warning, set parameter PF24 (Vibration tough drive
function selection).
Refer to the instruction manual for details.
SEMI-F47 function selection
0: Disabled
1: Enabled
Selecting “1” enables to avoid occurring AL. 10 (Undervoltage) using the electrical energy charged
in the capacitor in case that an instantaneous power failure occurs during operation. In parameter
PF25 (SEMI-F47 function - Instantaneous power failure detection time), set the time period until the
occurrence of AL. 10.1 (Voltage drop in the control circuit power).

Parameters MR-J4-A
Control
mode
PA21 *AOP3 0001H Refer to text P (S)

0 0
One-touch tuning function selection
0: Disabled
1: Enabled
When the digit is “0”, the one-touch tuning is not available.
Electronic gear selection (only position control mode)
0: Electronic gear (Parameters PA06 and PA07)
1: Number of command input pulses per revolution (Parameter PA05)
2: J3A electronic gear setting value compatibility mode (Electronic gear (PA06 and PA07 × 16))
Setting the parameter enables the electronic gear value set in MR-J3-A.
PA23 DRAT 0000H Refer to text PST

Drive recorder arbitrary alarm trigger setting
Alarm detail No. setting

Set the digits when you execute the trigger with arbitrary alarm detail No. for the drive recorder
function.
When these digits are “0 0”, only the arbitrary alarm No. setting will be enabled.
Alarm No. setting
Set the digits when you execute the trigger with arbitrary alarm No. for the drive recorder function.
When “0 0” are set, arbitrary alarm trigger of the drive recorder will be disabled.
Setting example:
To activate the drive recorder when AL. 50 (Overload 1) occurs, set “5 0 0 0”.
To activate the drive recorder when AL. 50.3 (Thermal overload error 4 during operation) occurs, set “5 0 0 3”.
PA24 AOP4 0000H Refer to text PS

0 0 0
Vibration suppression mode selection
0: Standard mode
1: 3 inertia mode
2: Low response mode
When you select the standard mode or low response mode, “Vibration suppression control 2” is not
available.
When you select the 3 inertia mode, the feed forward gain is not available.
Before changing the control mode during the 3 inertia mode or low response mode, stop the motor.
PA25 OTHOV 0 % Refer to text PS

One-touch tuning -Overshoot permissible level
Set a permissible value of overshoot amount for one-touch tuning as a percentage of the in-position range.
Setting “0” will be 50 %.
7 - 12
MR-J4-A Parameters
Control
mode
PA26 *AOP5 0000H Refer to text PS

0 0 0
Torque limit function selection at instantaneous power failure (instantaneous power failure tough
drive selection)
0: Disabled
1: Enabled
When an instantaneous power failure occurs during operation, the torque at acceleration is limited
to save electric energy charged in the capacitor in the servo amplifier and the time until AL. 10.2
(Voltage drop in the main circuit power) occurs is extended with the instantaneous power failure
tough drive function. Consequently, you can set a longer time in parameter PF25 (SEMI-F47 function
- Instantaneous power failure detection time). The torque limit function at instantaneous power
failure is enabled when “SEMI-F47 function selection” in parameter PA20 is “Enabled (1)”.
This parameter setting is used with servo amplifier with software version A6 or later.


Parameters MR-J4-A-RJ
7.2 MR-J4-A-RJ


– CP: Positioning mode (point table method)
– CL: Positioning mode (program method)
– PS: Positioning mode (indexer method)
7 - 14
MR-J4-A-RJ Parameters
Parameters PA
Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PA03 *ABS Absolute position detection system 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA04 *AOP1 Function selection A-1 2000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA05 *FBP Number of command input pulses per revolution 10000 — — — — — — — —
Electronic gear numerator (command pulse multiplication numerator) 1 — ✔ ✔ ✔ ✔ ✔ ✔ —
PA06 *CMX
Number of gear teeth on machine side 1 — ✔ — — ✔ — — ✔
1 — ✔ ✔ ✔ ✔ ✔ ✔ —
PA07 *CDV (command pulse multiplication denominator)
Number of gear teeth on servo motor side 1 — ✔ — — ✔ — — ✔
PA08 ATU Auto tuning mode 0001H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA09 RSP Auto tuning response 16 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
μm
10-4 inch
PA10 INP In-position range 100 ✔ ✔ ✔ ✔ ✔ ✔ ✔
10-3 degree
pulse
PA13 *PLSS Command pulse input form 0100H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA14 *POL Rotation direction selection/travel direction selection 0 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA24 AOP4 Function selection A-4 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA27 — 0000H — — — — — — — —
PA28 — 0000H — — — — — — — —
PA29 — 0000H — — — — — — — —
PA30 — 0000H — — — — — — — —
PA31 — 0000H — — — — — — — —
PA32 — 0000H — — — — — — — —
Tab. 7-3: List of basic setting parameters for MR-J4-A-RJ

Control
mode
PA01 *STY 1000H Refer to text CP CL PS

Operation mode
1 0
Control mode selection
0 to
5: Not used for positioning mode.
6: Positioning mode (point table method)
7: Positioning mode (program method)
8: Positioning mode (indexer method)
4: Linear servo motor control mode
6: DD motor control mode (except 400 V class servo amplifiers)
The following settings will trigger AL. 37 (Parameter error).
- A value is set other than “0”, “1”, “4”, and “6” to this digit.
- “1” or “4” is set to this digit with the indexer method.
- “1” or “4” is set to this digit when “Position data unit” is set to [degree] in Parameter PT01.
PA02 *REG 0000H Refer to text CP CL PS

Regenerative option
0 0
11 kW to 22 kW.
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
08: MR-RB31
0B: MR-RB3N
80: MR-RB1H-4

Tab. 7-4: Detailed overview of parameters PA for MR-J4-A-RJ (1)
7 - 16
Control
mode
PA03 *ABS 0000H Refer to text CP CL PS

0 0 0
0: Disabled (incremental system)
1: Enabled (absolute position detection system)
2: Not used for positioning mode.
Setting a value other than “0” and “1” will trigger AL. 37 (Parameter error).
PA04 *AOP1 2000H Refer to text CP CL PS

0 0 0
Deceleration method
PA05 *FBP 10000 1000–1000000 P

Number of command input pulses per revolution
The servo motor rotates based on set command input pulses.
To enable the parameter value, set “Electronic gear selection” to “Number of command input pulses per revolution
(1)” in parameter PA21. “1” cannot be set in parameter PA21 in the linear control mode.

Control
mode
PA06 *CMX 1 1–16777215 CP CL

Electronic gear numerator (command pulse multiplication numerator)
Set an electronic gear numerator. (Refer to the instruction manual.)
To enable the parameter values in the positioning mode, cycle the power after setting.
To enable the parameter, select “Electronic gear (0)”, “J3 electronic gear setting value compatibility mode (2)”, or
“J2S electronic gear setting value compatibility mode (3)” of “Electronic gear selection” in parameter PA21.
Set the electronic gear within the following range. Setting out of the range will trigger AL. 37 (Parameter error).
Parameter PA21 Electronic gear setting range
0 (1/865) < (CMX/CDV) < 271471
2 (1/13825) < (CMX/CDV) < 16967
3 (1/27649) < (CMX/CDV) < 8484
PA06 *CMX 1 1–16777215 PS

Number of gear teeth on machine side
Set the number of gear teeth on machine side. (Refer to the instruction manual.)
Set the electronic gear within the following range.
1 CMX 16384, 1 CDV 16384
1 CMX
9999
9999 CDV
CDV x STN 32767 (STN: Number of stations per rotation (parameter PT28))
CMX x CDV 100000
Setting out of the range will trigger AL. 37 (Parameter error).
When a small value is set to the electronic gear ratio with the manual operation mode, the servo motor may not drive at the
set servo motor speed.
1 CMX
Travel distance of 1 station = Pt (servo motor resolution) x x
STN CDV
PA07 *CDV 1 1–16777215 CP CL

Electronic gear denominator (command pulse multiplication denominator)
Set an electronic gear denominator. (Refer to the instruction manual.)
To enable the parameter, select “Electronic gear (0)”, “J3 electronic gear setting value compatibility mode (2)”, or
“J2S electronic gear setting value compatibility mode (3))” of “Electronic gear selection” in parameter PA21.
Set the electronic gear within the range of parameter PA06. Setting out of the range will trigger AL. 37 (Parameter error).
PA07 *CDV 1 1–16777215 PS

Number of gear teeth on servo motor side
Set the number of gear teeth on servo motor side. (Refer to the instruction manual.)
Set the electronic gear within the range of parameter PA06. Setting out of the range will trigger AL. 37 (Parameter error).
7 - 18
Control
mode
PA08 ATU 0001H Refer to text CP CL PS

Auto tuning mode
0 0 0
3: Manual mode

2 gain adjustment mode 1 PB08 (Position loop gain)
0
(interpolation mode) PB09 (Speed loop gain)
1 Auto tuning mode 1 PB08 (Position loop gain)
3 Manual mode —

Control
mode
PA09 RSP 16 1–40 CP CL PS

Response Response
resonance resonance
1 low 2.7 21 middle 67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20 middle 59.6 40 high 642.7
Refer to
PA10 INP 100 0–65535 CP CL PS
text
In-position range
Set an in-position range per command.
To change it to the servo motor encoder pulse unit, set parameter PC24.
Parameter PA01 In-position setting range
6 (positioning mode (point table method)) The range where MEND (Travel
completion), PED (Position end) and
7 (Positioning mode (program method)) INP (In-position) are input.
The range where MEND (Travel
8 (Positioning mode (indexer method)) completion) and INP (In-position) are
input.
The unit will be as follows depending on the positioning mode.
Point table method or program method
Select from [μm], 10-4 [inch], 10-3 [degree], or [pulse] with parameter PT01.
Indexer method
Command unit [pulse] (a load-side rotation expressed by the number of encoder resolution pulses)
For example, when making an in-position range “± 1 degree” for the rotation angle on the load side, set 4194304 x (1/360) =
11650 pulses.
7 - 20
Control
mode
PA11 TLP 100.0 % 0.0–100.0 CP CL PS

Forward rotation torque limit/positive direction thrust limit
When you output torque or thrust as analog monitor output, the larger value of parameter PA11 (Forward rotation torque
PA12 TLN 100.0 % 0.0–100.0 CP CL PS

Reverse rotation torque limit/negative direction thrust limit
When you output torque or thrust with analog monitor output, the larger value of parameter PA11 (Forward rotation torque
The parameter is for limiting the torque of the servo motor in the CW power running or CCW regeneration, or limiting the
PA13 *PLSS 0100H Refer to text CP CL

0
Command input pulse train form selection
0: Forward/reverse rotation pulse train
1: Signed pulse train
2: A-phase/B-phase pulse train (The servo amplifier imports input pulses after multiplying by four.)
When connecting the manual pulse generator MR-HDP01 in the positioning mode, set “2” to this digit.
Refer to the following table on the next page for settings.
Pulse train logic selection
0: Positive logic
1: Negative logic
Select the same one as logic of command pulse train from controller to connect.
Refer to the instruction manual for logic of Q series/L series/F series.
When connecting the manual pulse generator MR-HDP01 in the positioning mode, set “0” to this digit.
Refer to the following table on the next page for settings.
Refer to the following page for the setting of these digits.

Control
mode
PA13 *PLSS 0100H Refer to text CP CL

0
Refer to the previous page for the setting of these digits.
Command input pulse train filter selection
Selecting proper filter enables to enhance noise immunity.
0: Command input pulse train is 4 Mpulses/s or less.
1: Command input pulse train is 1 Mpulse/s or less.
2: Command input pulse train is 500 kpulses/s or less.
3: Command input pulse train is 200 kpulses/s or less (available for the software version A5 or later)
1 Mpulse/s or lower commands are supported by “1”. When inputting commands over 1 Mpulse/s
and 4 Mpulses/s or lower, set “0”.
When connecting the manual pulse generator MR-HDP01 in the positioning mode, set “2” or “3” to
this digit.
Incorrect setting may cause the following malfunctions.
– Setting a value higher than actual command will lower noise immunity.
– Setting a value lower than actual command will cause a position mismatch.

Forward rotation Reverse rotation

Setting value Pulse train form (positive direction) (negative direction)
command command
pulse train)
10H
Reverse rotation pulse NP
train (negative direction
pulse train)
Negative logic
PP

L H
NP
A-phase pulse train PP

12H
B-phase pulse train
NP

pulse train)
00H
Reverse rotation pulse
train (negative direction NP
pulse train)
Positive logic
PP
NP L
H
PP
A-phase pulse train
02H
B-phase pulse train NP
Arrows in the table indicate the timing of importing pulse trains. A-phase and B-phase pulse trains are imported after they
have been multiplied by 4.
When connecting the manual pulse generator MR-HDP01 in the positioning mode, set “02H”.
7 - 22
Control
mode
PA14 *POL 0 0, 1 CP CL PS
Select a rotation direction of the servo motor or travel direction of the linear servo motor for when turning on ST1 (Forward
rotation start) or ST2 (Reverse rotation start).
Forward rotation (CCW) value When positioning When positioning
address increases address decreases
0
direction direction
direction direction
Negative direction
Positive direction
Ta
Primary side

Positive direction
Primary side
Negative direction
PA15 *ENR 4000 pulse/rev 1–4194304 CP CL PS

PA16 *ENR2 1 1–4194304 CP CL PS


Control
mode
PA17 *MSR 0000H Refer to text CP CL

LM-U2P2B-40M-2SS0 2201H
LM-U2P2C-60M-2SS0 2301H
LM-U2P2D-80M-2SS0 2401H
LM-F 00B2H
LM-K2P1A-01M-2SS1 1101H
LM-K2P1C-03M-2SS1 1301H
LM-K2P2A-02M-1SS1 2101H
LM-K2P2E-12M-1SS1 2501H
LM-K2P3C-14M-1SS1 3301H
LM-K2P3E-24M-1SS1 3501H
PA18 *MTY 0000H Refer to text CP CL


Natural cooling

Liquid cooling
7 - 24
Control
mode
PA19 *BLK 00AAH Refer to text CP CL PS

Setting
PA19 PA PB PC PD PE PF PL Po PT
operation
Other than Reading ✔ — — — — — — — —
below Writing ✔ — — — — — — — —
Only
Reading — — — — — — — —
19
000AH
Only
Writing — — — — — — — —
19
Reading ✔ ✔ ✔ — — — — — —
000BH
Writing ✔ ✔ ✔ — — — — — —
Reading ✔ ✔ ✔ ✔ — — — — —
000CH
Writing ✔ ✔ ✔ ✔ — — — — —
00AAH Reading ✔ ✔ ✔ ✔ ✔ ✔ — — —
(initial
value) Writing ✔ ✔ ✔ ✔ ✔ ✔ — — —
Reading ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔
00ABH
Writing ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔
Reading ✔ — — — — — — — —
100BH Only
Writing — — — — — — — —
19
Reading ✔ ✔ ✔ ✔ — — — — —
100CH Only
Writing — — — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ ✔ — — —
10AAH Only
Writing — — — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔
10ABH Only
Writing — — — — — — — —
19
PA20 *TDS 0000H Refer to text CP CL PS

Tough drive setting
fluctuation.
You can assign MTTR (During tough drive) to the pins CN1-13, CN1-14, CN1-22 to CN1-25, and CN1-49 with parameters
PD23 to PD26, PD28, and PD47.
0 0
0: Disabled
1: Enabled
0: Disabled
1: Enabled

Control
mode

0 0
0: Disabled
1: Enabled
When the digit is “0”, the one-touch tuning is not available.
Electronic gear selection
When this digit is changed, the home position will be changed. Execute the home position return
again.
0: Electronic gear (parameters PA06 and PA07)
1: Not used for positioning mode. Setting this will trigger AL. 37 (Parameter error).
2: J3 electronic gear setting value compatibility mode
(Electronic gear (PA06 and PA07 × 16))
The electronic gear setting value can be used set with MR-J3.
3: J2S electronic gear setting value compatibility mode
(Electronic gear (PA06 and PA07 × 32)
The electronic gear setting value can be used set with MR-J2S.
PA23 DRAT 0000H Refer to text CP CL PS


function.
Alarm No. setting
Setting example:
PA24 AOP4 0000H Refer to text CP CL PS

0 0 0
0: Standard mode
1: 3 inertia mode
available.
Before changing the control mode during the 3 inertia mode or low response mode, stop the motor.
PA25 OTHOV 0 % Refer to text CP CL PS

7 - 26
Control
mode

0 0 0
drive selection)
0: Disabled
1: Enabled

Parameters MR-J4-B(-RJ)
7.3 MR-J4-B(-RJ)
NOTES When you connect the amplifier to a servo system controller, servo parameter values of the servo
system controller will be written to each parameter.
Setting may not be made to some parameters and their ranges depending on the servo system
controller model, servo amplifier software version, and MR Configurator2 software version. For
details, refer to the servo system controller user's manual.
NOTES The parameter whose symbol is preceded by * is enabled with the following conditions:
– *: After setting the parameter, cycle the power or reset the controller.
– **: After setting the parameter, cycle the power.

7 - 28
MR-J4-B(-RJ) Parameters
Parameters PA
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PA01 **STY Operation mode 1000H — ✔ ✔ ✔ ✔
PA02 **REG Regenerative option 0000H — ✔ ✔ ✔ ✔
PA03 *ABS Absolute position detection system 0000H — ✔ ✔ ✔ ✔
PA04 *AOP1 Function selection A-1 2000H — ✔ ✔ ✔ ✔
PA05 — 10000 — — — — —
PA06 — For manufacturer setting 1 — — — — —
PA07 — 1 — — — — —
PA08 ATU Auto tuning mode 0001H — ✔ ✔ ✔ ✔
PA09 RSP Auto tuning response 16 — ✔ ✔ ✔ ✔
PA10 INP In-position range 1600 pulse ✔ ✔ ✔ ✔
PA11 — 1000.0 — — — — —
PA12 — For manufacturer setting 1000.0 — — — — —
PA13 — 0000H — — — — —
PA14 *POL Rotation direction selection/travel direction selection 0 — ✔ ✔ ✔ ✔
PA15 *ENR Encoder output pulses 4000 pulse/rev ✔ ✔ ✔ ✔
PA16 *ENR2 Encoder output pulses 2 1 — ✔ ✔ ✔ ✔
PA17 **MSR Servo motor series setting 0000H — — — ✔ —
PA18 **MTY Servo motor type setting 0000H — — — ✔ —
PA19 *BLK Parameter writing inhibit 00ABH — ✔ ✔ ✔ ✔
PA20 *TDS Tough drive setting 0000H — ✔ ✔ ✔ ✔
PA22 **PCS Position control composition selection 0000H — ✔ — — —
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000H — ✔ ✔ ✔ ✔
PA24 AOP4 Function selection A-4 0000H — ✔ ✔ ✔ ✔
PA25 OTHOV One-touch tuning – Overshoot permissible level 0 % ✔ ✔ ✔ ✔
PA27 — 0000H — — — — —
PA28 — 0000H — — — — —
PA29 — 0000H — — — — —
PA30 — 0000H — — — — —
PA31 — 0000H — — — — —
PA32 — 0000H — — — — —
Tab. 7-5: List of basic setting parameters for MR-J4-B(-RJ)

PA01 **STY 1000H Refer to text

Operation mode
0 0
4. Linear servo motor control mode
6: DD motor control mode (Except 400 V class servo amplifiers)
Setting other than above will result in AL. 37 (Parameter error). The fully closed loop system is available
for the MR-J4-B(-RJ) servo amplifiers of which software version is A3 or above.

0: J3 compatibility mode
1: J4 mode
To change this digit, use an application software “MR-J4(W)-B mode selection”. When you change it
without the application, AL.3E (Operation mode error) will occur.
PA02 **REG 0000H Refer to text

Regenerative option
0 0
11 kW to 22 kW.
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
08: MR-RB31
0B: MR-RB3N
80: MR-RB1H-4

Tab. 7-6: Detailed overview of parameters PA for MR-J4-B(-RJ) (1)
7 - 30
PA03 *ABS 0000H Refer to text

0 0 0
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)
Set this parameter when using the absolute position detection system. The parameter is not available in the speed control
mode and torque control mode.
PA04 *AOP1 2000H Refer to text

This is used to select the forced stop input and forced stop deceleration function.
0 0
Servo forced stop selection
0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not used.)
Deceleration method
MBR (Electromagnetic brake
Not using
01 — interlock) turns off without the
EM2 or EM1
forced stop deceleration.
Not using
21 — interlock) turns off after the
EM2 or EM1

PA08 ATU 0001H Refer to text

Auto tuning mode
0 0 0
3: Manual mode

PB06 (Load to motor inertia ratio/load to motor
mass ratio)
2 gain adjustment mode 1
0 PB08 (Position loop gain)
(interpolation mode)
mass ratio)
3 Manual mode —
7 - 32
PA09 RSP 16 1–40

Response Response
resonance resonance
1 low 2.7 21 middle 67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20 middle 59.6 40 high 642.7
PA10 INP 1600 pulse 0–65535

In-position range

PA14 *POL 0 0, 1
This is used to select a rotation direction or travel direction.
For the setting for the master-slave operation function, refer to the instruction manual.
Forward rotation (CCW) value Positioning address Positioning address
increase decrease
0
direction direction
direction direction
Negative direction
Positive direction
Positive direction
ble
Ta
Primary side

Positive direction
Primary side
Negative direction
PA15 *ENR 4000 pulse/rev 1–65535

PA16 *ENR2 1 1–65535

7 - 34
PA17 **MSR 0000H Refer to text

LM-U2P2B-40M-2SS0 2201H
LM-U2P2C-60M-2SS0 2301H
LM-U2P2D-80M-2SS0 2401H
LM-F 00B2H
LM-K2P1A-01M-2SS1 1101H
LM-K2P1C-03M-2SS1 1301H
LM-K2P2A-02M-1SS1 2101H
LM-K2P2E-12M-1SS1 2501H
LM-K2P3C-14M-1SS1 3301H
LM-K2P3E-24M-1SS1 3501H
PA18 **MTY 0000H Refer to text


Natural cooling

Liquid cooling

PA19 *BLK 00ABH Refer to text

Setting
operation
Only
Reading — — — — — —
19
000AH
Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ — — — —
000BH
Writing ✔ ✔ ✔ — — — —
Reading ✔ ✔ ✔ ✔ — — —
000CH
Writing ✔ ✔ ✔ ✔ — — —
Reading ✔ ✔ ✔ ✔ ✔ — ✔
000FH
Writing ✔ ✔ ✔ ✔ ✔ — ✔
Reading ✔ ✔ ✔ ✔ ✔ ✔ —
00AAH
Writing ✔ ✔ ✔ ✔ ✔ ✔ —
00ABH Reading ✔ ✔ ✔ ✔ ✔ ✔ ✔
(initial
value) Writing ✔ ✔ ✔ ✔ ✔ ✔ ✔
Reading ✔ — — — — — —
100BH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ — — —
100CH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ — ✔
100FH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ ✔ —
10AAH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ ✔ ✔
10ABH Only
Writing — — — — — —
19
7 - 36
PA20 *TDS 0000H Refer to text

Tough drive setting
fluctuation.
You can assign MTTR (During tough drive) to the pins CN3-9, CN3-13 and CN3-15 with parameters PD07 to PD09.
0 0
0: Disabled
1: Enabled
0: Disabled
1: Enabled

0 0 0
0: Disabled
1: Enabled
When the digit is “0”, the one-touch tuning with MR Configurator2 will be disabled.
PA22 **PCS 0000H Refer to text

Position control composition selection
0 0 0
Scale measurement mode selection
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system
The absolute position detection system cannot be used while an incremental type encoder is used.
Enabling absolute position detection system will trigger AL. 37 (Parameter error).
Additionally, the setting is enabled only in the standard control mode. Setting other than “0” in other
operation modes triggers AL. 37 (Parameter error).

PA23 DRAT 0000H Refer to text


function.
Alarm No. setting
Setting example:
PA24 AOP4 0000H Refer to text

0 0 0
0: Standard mode
1: 3 inertia mode
When two low resonance frequencies are generated, select “3 inertia mode (1)”. When the load
to motor inertia ratio exceeds the recommended load to motor inertia ratio, select “Low response
mode (2)”.
available.
Before changing the control mode with the controller during the 3 inertia mode or low response
mode, stop the motor.
PA25 OTHOV 0 % 0–100


0 0 0
drive selection)
0: Disabled
1: Enabled
This parameter setting is used with servo amplifier with software version A6 or later.

7 - 38
MR-J4W-B Parameters
7.4 MR-J4W-B
NOTES When you connect the amplifier to a servo system controller, servo parameter values of the servo
system controller will be written to each parameter.
Setting may not be made to some parameters and their ranges depending on the servo system
controller model, servo amplifier software version, and MR Configurator2 software version. For
details, refer to the servo system controller user's manual.
How to set parameters:

– Each: Set parameters for each axis of A, B, and C.
– Common: Set parameters for common axis of A, B, and C. Be sure to set the same value to all
axes.
The same values are set as default for all axes.


Parameters MR-J4W-B
Parameters PA
Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PA01 **STY Operation mode 1000H — Each ✔ ✔ ✔ ✔
PA02 **REG Regenerative option 0000H — Common ✔ ✔ ✔ ✔
PA03 *ABS Absolute position detection system 0000H — Each ✔ ✔ ✔ ✔
PA04 *AOP1 Function selection A-1 2000H — Common ✔ ✔ ✔ ✔
PA05 — 10000 — — — — — —
PA06 — For manufacturer setting 1 — — — — — —
PA07 — 1 — — — — — —
PA08 ATU Auto tuning mode 0001H — Each ✔ ✔ ✔ ✔
PA09 RSP Auto tuning response 16 — Each ✔ ✔ ✔ ✔
PA10 INP In-position range 1600 pulse Each ✔ ✔ ✔ ✔
PA11 — 1000.0 — — — — — —
PA12 — For manufacturer setting 1000.0 — — — — — —
PA13 — 0000H — — — — — —
PA14 *POL Rotation direction selection/travel direction selection 0 — Each ✔ ✔ ✔ ✔
PA15 *ENR Encoder output pulses 4000 pulse/rev Each ✔ ✔ ✔ ✔
PA16 *ENR2 Encoder output pulses 2 1 — Each ✔ ✔ ✔ ✔
PA17 **MSR Servo motor series setting 0000H — Each — — ✔ —
PA18 **MTY Servo motor type setting 0000H — Each — — ✔ —
PA19 *BLK Parameter writing inhibit 00ABH — Each ✔ ✔ ✔ ✔
PA20 *TDS Tough drive setting 0000H — Each ✔ ✔ ✔ ✔
PA21 *AOP3 Function selection A-3 0001H — Each ✔ ✔ ✔ ✔
PA22 **PCS Position control composition selection 0000H — Each ✔ — — —
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000H — Each ✔ ✔ ✔ ✔
PA24 AOP4 Function selection A-4 0000H — Each ✔ ✔ ✔ ✔
PA25 OTHOV One-touch tuning – Overshoot permissible level 0 % Each ✔ ✔ ✔ ✔
PA26 — 0000H — — — — — —
PA27 — 0000H — — — — — —
PA28 — 0000H — — — — — —
PA29 — For manufacturer setting 0000H — — — — — —
PA30 — 0000H — — — — — —
PA31 — 0000H — — — — — —
PA32 — 0000H — — — — — —
Tab. 7-7: List of basic setting parameters for MR-J4W-B
7 - 40
MR-J4W-B Parameters
Each/
Common
PA01 **STY 1000H Refer to text Each

Operation mode
0 0
4. Linear servo motor control mode
6: DD motor control mode (Except 400 V class servo amplifiers)
Setting other than above will result in AL. 37 (Parameter error). The fully closed loop system is available
for the MRJ4W2-B servo amplifiers of which software version is A3 or above. It will not be available
with MR-J4W3-B servo amplifiers.

0: J3 compatibility mode
1: J4 mode
To change this digit, use an application software “MR-J4(W)-B mode selection”. When you change it
without the application, AL. 3E (Operation mode error) will occur.
Set the digit as common setting.
PA02 **REG 0000H Refer to text Common

Regenerative option
0 0
00: Regenerative option is not used. (Built-in regenerative resistor is used.)
0B: MR-RB3N
0D: MR-RB14
0E: MR-RB34
Tab. 7-8: Detailed overview of parameters PA for MR-J4W-B (1)

Parameters MR-J4W-B
Each/
Common
PA03 *ABS 0000H Refer to text Each

0 0 0
0: Disabled (used in incremental system)
1: Enabled (used in absolute position detection system)
Set this parameter when using the absolute position detection system. The parameter is not available in the speed control
mode and torque control mode.
PA04 *AOP1 2000H Refer to text Common

This is used to select the forced stop input and forced stop deceleration function.
0 0
Servo forced stop selection
0: Enabled (The forced stop input EM2 or EM1 is used.)
1: Disabled (The forced stop input EM2 and EM1 are not used.)
Deceleration method
Not using
01 — interlock) turns off without the
EM2 or EM1
Not using
21 — interlock) turns off after the
EM2 or EM1
7 - 42
MR-J4W-B Parameters
Each/
Common
PA08 ATU 0001H Refer to text Each

Auto tuning mode
0 0 0
3: Manual mode

mass ratio)
2 gain adjustment mode 1
0 PB08 (Position loop gain)
(interpolation mode)
mass ratio)
3 Manual mode —

Parameters MR-J4W-B
Each/
Common
PA09 RSP 16 1–40 Each

Response Response
resonance resonance
1 low 2.7 21 middle 67.1
2 3.6 22 75.6
3 4.9 23 85.2
4 6.6 24 95.9
5 10.0 25 108.0
6 11.3 26 121.7
7 12.7 27 137.1
8 14.3 28 154.4
9 16.1 29 173.9
10 18.1 30 195.9
11 20.4 31 220.6
12 23.0 32 248.5
13 25.9 33 279.9
14 29.2 34 315.3
15 32.9 35 355.1
16 37.0 36 400.0
17 41.7 37 446.6
18 47.0 38 501.2
19 52.9 39 571.5
20 middle 59.6 40 high 642.7
PA10 INP 1600 pulse 0–65535 Each

In-position range
7 - 44
MR-J4W-B Parameters
Each/
Common
PA14 *POL 0 0, 1 Each

This is used to select a rotation direction or travel direction.
For the setting for the master-slave operation function, refer to the instruction manual.
Forward rotation (CCW) value Positioning address Positioning address
increase decrease
0
direction direction
direction direction
Negative direction
Positive direction
Ta
Primary side

Positive direction
Primary side
Negative direction
PA15 *ENR 4000 pulse/rev 1–65535 Each

PA16 *ENR2 1 1–65535 Each


Parameters MR-J4W-B
Each/
Common
PA17 **MSR 0000H Refer to text Each

LM-U2P2B-40M-2SS0 2201H
LM-U2P2C-60M-2SS0 2301H
LM-U2P2D-80M-2SS0 2401H
LM-K2P1A-01M-2SS1 1101H
LM-K2P1C-03M-2SS1 1301H
LM-K2P2A-02M-1SS1 2101H
LM-K2P2E-12M-1SS1 2501H
LM-K2P3C-14M-1SS1 3301H
LM-K2P3E-24M-1SS1 3501H
PA18 **MTY 0000H Refer to text Each

7 - 46
MR-J4W-B Parameters
Each/
Common
PA19 *BLK 00ABH Refer to text Each

Setting
operation
Only
Reading — — — — — —
19
000AH
Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ — — — —
000BH
Writing ✔ ✔ ✔ — — — —
Reading ✔ ✔ ✔ ✔ — — —
000CH
Writing ✔ ✔ ✔ ✔ — — —
Reading ✔ ✔ ✔ ✔ ✔ — ✔
000FH
Writing ✔ ✔ ✔ ✔ ✔ — ✔
Reading ✔ ✔ ✔ ✔ ✔ ✔ —
00AAH
Writing ✔ ✔ ✔ ✔ ✔ ✔ —
00ABH Reading ✔ ✔ ✔ ✔ ✔ ✔ ✔
(initial
value) Writing ✔ ✔ ✔ ✔ ✔ ✔ ✔
Reading ✔ — — — — — —
100BH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ — — —
100CH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ — ✔
100FH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ ✔ —
10AAH Only
Writing — — — — — —
19
Reading ✔ ✔ ✔ ✔ ✔ ✔ ✔
10ABH Only
Writing — — — — — —
19

Parameters MR-J4W-B
Each/
Common
PA20 *TDS 0000H Refer to text Each

Tough drive setting
fluctuation.
You can assign MTTR (During tough drive) to the pins CN3-11 to CN3-13, CN3-24, and CN3-25with parameters PD07 to
PD09.
0 0
0: Disabled
1: Enabled
0: Disabled
1: Enabled
A specified axis cannot be enabled for the instantaneous power failure tough drive function.
PA21 *AOP3 0001H Refer to text Each

0 0 0
0: Disabled
1: Enabled
When the digit is “0”, the one-touch tuning with MR Configurator2 will be disabled.
PA22 **PCS 0000H Refer to text Each

Position control composition selection
0 0 0
Scale measurement mode selection
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system
The setting of this digit is enabled with software version A8 or later.
The absolute position detection system cannot be used while an incremental type encoder is used.
Enabling absolute position detection system will trigger AL. 37 (Parameter error).
Additionally, the setting is enabled only in the standard control mode. Setting other than “0” in other
operation modes triggers AL. 37 (Parameter error).
7 - 48
MR-J4W-B Parameters
Each/
Common
PA23 DRAT 0000H Refer to text Each


function.
When these digits are “0 0”, the drive recorder will operate with any alarm No. regardless of detail
numbers.
Alarm No. setting
Setting example:
PA24 AOP4 0000H Refer to text Each

0 0 0
0: Standard mode
1: 3 inertia mode
When two low resonance frequencies are generated, select “3 inertia mode (1)”. When the load
to motor inertia ratio exceeds the recommended load to motor inertia ratio, select “Low response
mode (2)”.
available.
Before changing the control mode with the controller during the 3 inertia mode or low response
mode, stop the motor.
PA25 OTHOV 0 % 0–100 Each


Parameters Other parameters
7.5 Other parameters

Only the basic setting parameters PA are described in this manual for beginners.
The Appendix shows more tables about
● Gain/filter parameters PB
(Section A.1.3, section A.2.3, section A.3.3 or section A.4.3)
● Extension setting parameters PC
● I/O setting parameters PD
● Extension 2 setting parameters PE
● Extension 3 setting parameters PF
● Linear servo motor/DD motor setting parameters PL
● Option setting parameters Po
(Section A.2.9)
● Positioning control parameters PT
(Section A.2.10)
Please refer to the respective instruction manual of the servo amplifier series MR-J4-A, MR-J4-A-RJ,
MR-J4-B and MR-J4W-B for more detailed settings and descriptions of these parameters.
7 - 50
Alarm and warning list MR-J4-A(-RJ) Troubleshooting
8 Troubleshooting
8.1 Alarm and warning list MR-J4-A(-RJ)
NOTES Refer to “MELSERVO J4 Servo Amplifier Instruction Manual (Troubleshooting)” for details of alarms
and warnings.
As soon as an alarm occurs, turn SON (Servo-on) off and interrupt the power.
AL. 37 (Parameter error) and warnings (except AL. F0 (Tough drive warning)) are not recorded in
the alarm history.
When an error occurs during operation, the corresponding alarm and warning are displayed. When
the alarm or the warning occurs, refer to “MELSERVO J4 Servo Amplifier Instruction Manual (Trouble-
shooting)” to remove the failure. When an alarm occurs, ALM will turn off.
To output alarm codes, set parameter PD34 to “1”. Alarm codes are outputted by on/off of bit 0
to bit 2.
Warnings (AL. 91 to AL. F3) do not have alarm codes. The alarm codes in the following table will be out-
put when they occur. The alarm codes will not be output in normal condition.
After its cause has been removed, the alarm can be deactivated in any of the methods marked ✔ in
the alarm deactivation column. Warnings are automatically cancelled after the cause of occurrence is
removed. Alarms are deactivated with alarm reset or cycling the power.
Alarm deactivation Explanation

1. Turning on RES (Reset) with input device
2. Pushing the “SET” button while the display of the servo amplifier is the current alarm display
Alarm reset status
3. Pushing the “Occurring Alarm Reset” button in the “Alarm Display” window of MR
Configurator2
Cycling the power Turning off the power and on again
Tab. 8-1: Methods of alarm deactivation
For the alarms and warnings in which “SD” is written in the stop method column, the axis stops with
the dynamic brake after forced stop deceleration. For the alarms and warnings in which “DB” or “EDB”
is written in the stop method column, the servo motor stops with the dynamic brake without forced
stop deceleration.

Troubleshooting Alarm and warning list MR-J4-A(-RJ)
Alarm code Alarm deactivation
button on the current

Stop method ,
Alarm reset (RES)
Press the “SET”
Power off to on
Detail number
alarm screen.
CN1- CN1- CN1-
22 23 24
No. (Bit 2) (Bit 1) (Bit 0) Name Detail name
Voltage drop in the control circuit
10.1 EDB ✔ ✔ ✔
power
10 0 1 0 Undervoltage
Voltage drop in the main circuit
10.2 SD ✔ ✔ ✔
power
12.1 RAM error 1 DB — — ✔
12 0 0 0 Memory error 1 (RAM)
13.1 Clock error 1 DB — — ✔
13 0 0 0 Clock error
14.1 Control process error 1 DB — — ✔
14 0 0 0 Control process error
14.A Control process error 10 DB — — ✔
15.1 EEP-ROM error at power on DB — — ✔
Memory error 2 ✔
Alarm
15 0 0 0 15.2 EEP-ROM error during operation DB — —

(EEP-ROM)
15.4 Home position information read error DB — — ✔
Encoder initial communication -
16.1 DB — — ✔
Receive data error 1
16.2 DB — — ✔
16.3 DB — — ✔
16.5 DB — — ✔
Transmission data error 1
16.6 DB — — ✔
Encoder initial 16.7 DB — — ✔
16 1 1 0 communication
error 1 Encoder initial communication -
16.A DB — — ✔
Process error 1
16.B DB — — ✔
Process error 2
16.C DB — — ✔
Process error 3
16.D DB — — ✔
Process error 4
16.E DB — — ✔
Process error 5
16.F DB — — ✔
Process error 6
Tab. 8-2: Alarm list of MR-J4-A(-RJ) (1)
8-2

Stop method ,
Alarm reset (RES)
Press the “SET”
Power off to on
Detail number
alarm screen.
CN1- CN1- CN1-
22 23 24
17.1 Board error 1 DB — — ✔
17 0 0 0 Board error 17.3 Board error 2 DB — — ✔
Memory error 3 19.1 FLASH-ROM error 1 DB — — ✔
19 0 0 0
(FLASH-ROM) 19.2 FLASH-ROM error 2 DB — — ✔
1A.1 Servo motor combination error (1) DB — — ✔
Servo motor Servo motor control mode
1A 1 1 0 1A.2 DB — — ✔
combination error combination error
1.A.4 Servo motor combination error 2 DB — — ✔
Encoder initial com- 1E.1 Encoder malfunction DB — — ✔

1E 1 1 0
munication error 2 1E.2 Load-side encoder malfunction DB — — ✔
Encoder initial com- 1F.1 Incompatible encoder DB — — ✔
1F 1 1 0
munication error 3 1F.2 Incompatible load-side encoder DB — — ✔
Encoder normal communication -
20.1 EDB — — ✔
20.2 EDB — — ✔
20.3 EDB — — ✔
✔
Alarm
20.5 EDB — —
Encoder normal com- Transmission data error 1
20 1 1 0
munication error 1 Encoder normal communication -
20.6 EDB — — ✔
20.7 EDB — — ✔
20.9 EDB — — ✔
20.A EDB — — ✔
21.1 Encoder data error 1 EDB — — ✔
21.2 Encoder data update error EDB — — ✔
21.3 Encoder data waveform error EDB — — ✔
Encoder normal com-
21 1 1 0 21.4 Encoder non-signal error EDB — — ✔
munication error 2
21.5 Encoder hardware error 1 EDB — — ✔
Ground fault detected by hardware
24.1 DB — — ✔
detection circuit
24 1 0 0 Main circuit error
Ground fault detected by software
24.2 DB ✔ ✔ ✔
detection function
Absolute position Servo motor encoder - Absolute
25 1 1 0 25.1 DB — — ✔
erased position erased


Stop method ,
Alarm reset (RES)
Press the “SET”
Power off to on
Detail number
alarm screen.
CN1- CN1- CN1-
22 23 24
Initial magnetic pole detection -
27.1 DB ✔ ✔ ✔
Abnormal termination
Initial magnetic pole detection - Time
27.2 DB ✔ ✔ ✔
out error
Initial magnetic pole detection - Limit
27.3 DB ✔ ✔ ✔
switch error
Initial magnetic pole Initial magnetic pole detection -
27 1 1 0 27.4 DB ✔ ✔ ✔
detection error Estimated error
27.5 DB ✔ ✔ ✔
Position deviation error
27.6 DB ✔ ✔ ✔
Speed deviation error
27.7 DB ✔ ✔ ✔
Current error
28 1 1 0 Linear encoder error 2 28.1 Linear encoder - Environment error EDB — — ✔
2A.1 Linear encoder error 1-1 EDB — — ✔
2A 1 1 0 Linear encoder error 1
Alarm
2B.1 Encoder counter error 1 EDB — — ✔

2B 1 1 0 Encoder counter error

30.1 Regeneration heat error DB ✔ ✔ ✔
30 0 0 1 Regenerative error 30.2 Regeneration signal error DB ✔ ✔ ✔
30.3 Regeneration feedback signal error DB ✔ ✔ ✔
31 1 0 1 Overspeed 31.1 Abnormal motor speed SD ✔ ✔ ✔
Overcurrent detected at hardware
32.1 DB — — ✔
detection circuit (during operation)
Overcurrent detected at software
32.2 detection function DB ✔ ✔ ✔
32 1 0 0 Overcurrent (during operation)
32.3 DB — — ✔
detection circuit (during a stop)
32.4 DB ✔ ✔ ✔
detection function (during a stop)
33 0 0 1 Overvoltage 33.1 Main circuit voltage error EDB ✔ ✔ ✔
Command frequency
35 1 0 1 35.1 Command frequency error DB ✔ ✔ ✔
error
37.1 Parameter setting range error DB — — ✔
37 0 0 0 Parameter error 37.2 Parameter combination error DB — — ✔
37.3 Point table setting error DB — — ✔
Inrush current sup- Inrush current suppression circuit
3A 0 0 0 3A.1 EDB — — ✔
pression circuit error error
8-4

Stop method ,
Alarm reset (RES)
Press the “SET”
Power off to on
Detail number
alarm screen.
CN1- CN1- CN1-
22 23 24
Servo control error by position
42.1 EDB ✔ ✔ ✔
deviation
Servo control error
(for linear servo Servo control error by speed
42.2 EDB ✔ ✔ ✔
motor and direct deviation
drive motor)
Servo control error by torque/thrust
42.3 EDB ✔ ✔ ✔
deviation
42 1 1 0 Fully closed loop control error by
42.8 EDB ✔ ✔ ✔
position deviation
Fully closed loop con- Fully closed loop control error by
42.9 EDB ✔ ✔ ✔
trol error (for fully speed deviation
closed loop control)
Fully closed loop control error by
42.A position deviation during command EDB ✔ ✔ ✔
stop
Main circuit device 45.1 Main circuit device overheat error (1) SD ✔ ✔ ✔
45 0 1 1
overheat 45.2 Main circuit device overheat error 2 SD ✔ ✔ ✔
Abnormal temperature of servo
46.1 SD ✔ ✔ ✔
motor 1
46.2 SD ✔ ✔ ✔
motor 2
Servo motor
46 0 1 1 46.3 Thermistor disconnected error SD ✔ ✔ ✔
overheat
46.5 DB ✔ ✔ ✔
motor 3
46.6 DB ✔ ✔ ✔
motor 4
47.1 Cooling fan stop error SD — — ✔
Alarm
47 0 1 1 Cooling fan error

47.2 Cooling fan speed reduction error SD — — ✔
Thermal overload error 1 during
50.1 SD ✔ ✔ ✔
operation
50.2 SD ✔ ✔ ✔
operation
50.3 SD ✔ ✔ ✔
operation
50 0 1 1
Overload 1
Thermal overload error 1 during a
50.4 SD ✔ ✔ ✔
stop
50.5 SD ✔ ✔ ✔
stop
50.6 SD ✔ ✔ ✔
stop
51.1 DB ✔ ✔ ✔
operation
51 0 1 1 Overload 2
51.2 DB ✔ ✔ ✔
stop
52.1 Excess droop pulse 1 SD ✔ ✔ ✔
52 1 0 1 Error excessive
52.4 Error excessive during 0 torque limit SD ✔ ✔ ✔
52.5 Excess droop pulse 3 EDB ✔ ✔ ✔
54 0 1 1 Oscillation detection 54.1 Oscillation detection error EDB ✔ ✔ ✔
56.2 Over speed during forced stop EDB ✔ ✔ ✔
56 1 1 0 Forced stop error Estimated distance over during
56.3 EDB ✔ ✔ ✔
forced stop


Stop method ,
Alarm reset (RES)
Press the “SET”
Power off to on
Detail number
alarm screen.
CN1- CN1- CN1-
22 23 24
61 1 0 1 Operation error 61.1 Point table setting range error DB ✔ ✔ ✔
63.1 STO1 off DB ✔ ✔ ✔
63 1 1 0 STO timing error
63.2 STO2 off DB ✔ ✔ ✔
Load-side encoder initial communi-
70.1 DB — — ✔
cation - Receive data error 1
70.2 DB — — ✔
70.3 DB — — ✔
70.5 DB — — ✔
cation - Transmission data error 1
70.6 DB — — ✔
Load-side encoder 70.7 DB — — ✔
70 1 1 0 initial communication
error 1 Load-side encoder initial communi-
70.A DB — — ✔
cation - Process error 1
70.B DB — — ✔
70.C DB — — ✔
70.D DB — — ✔
70.E DB — — ✔
Alarm

70.F DB — — ✔
Load-side encoder communication -
71.1 EDB — — ✔
71.2 EDB — — ✔
71.3 EDB — — ✔
Load-side encoder Load-side encoder communication -
71.5 EDB — — ✔
normal Transmission data error 1
71 1 1 0
communication Load-side encoder communication -
error 1 71.6 EDB — — ✔
71.7 EDB — — ✔
71.9 EDB — — ✔
71.A EDB — — ✔
72.1 Load-side encoder data error 1 EDB — — ✔
72.2 Load-side encoder data update error EDB — — ✔
Load-side encoder data waveform
Load-side encoder 72.3 EDB — — ✔
error
normal
72 1 1 0
communication 72.4 Load-side encoder non-signal error EDB — — ✔
error 2
72.5 Load-side encoder hardware error 1 EDB — — ✔
8-6

Stop method ,
Alarm reset (RES)
Press the “SET”
Power off to on
Detail number
alarm screen.
CN1- CN1- CN1-
22 23 24
USB communication
USB communication time-out
time-out error/serial
8A 0 0 0 8A.1 error/serial communication time-out SD ✔ ✔ ✔
communication time-
error
out error
USB communication receive
8E.1 error/serial communication receive SD ✔ ✔ ✔
error
USB communication checksum
8E.2 error/serial communication SD ✔ ✔ ✔
checksum error
Alarm
USB communication USB communication character

8E 0 0 0 error/serial 8E.3 error/serial communication character SD ✔ ✔ ✔
communication error error
USB communication command
8E.4 error/serial communication SD ✔ ✔ ✔
command error
USB communication data number
8E.5 error/serial communication data SD ✔ ✔ ✔
number error
88888 — — — Watchdog 8888._ Watchdog SD — — ✔

Leave for about 30 minutes of cooling time after removing the cause of occurrence.

The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
EDB: Refer to the following table for the specified servo motors.
The stop method for other than the specified servo motors will be DB.
Series Servo Motor
HG-KR HG-KR053, HG-KR13, HG-KR23, HG-KR43
HG-MR HG-MR053, HG-MR13, HG-MR23, HG-MR43
HG-SR HG-SR51, HG-SR52
SD: Forced stop deceleration

This is applicable when parameter PA04 is set to the initial value. The stop system of SD can be
changed to DB using parameter PA04.
The alarm can be canceled by setting as follows:
For the fully closed loop control: set parameter PE03 to “1”.
When a linear servo motor or direct drive motor is used: set parameter PL04 to “1”.
Only for MR-J4-A-RJ

method ,
number
Detail
Stop
No. Name Detail name
90.1 Home position return incomplete —

Home position return incomplete
90 90.2 Home position return abnormal termination —
warning
90.5 Z-phase unpassed —
91 Servo amplifier overheat warning 91.1 Main circuit device overheat warning —
92.1 Encoder battery cable disconnection warning —
92 Battery cable disconnection warning
92.3 Battery degradation —
ABS data transfer requirement warning during
93 ABS data transfer warning 93.1 —
magnetic pole detection
95.1 STO1 off detection DB
95 STO warning
96.1 In-position warning at home positioning —
96.2 Command input warning at home positioning —
96 Home position setting warning 96.3 Servo off warning at home positioning —
Home positioning warning during magnetic pole
96.4 —
detection
Program operation disabled/next 97.1 Program operation disabled warning —

97
station position warning Next station position warning —
97.2
98.1 Forward rotation-side software stroke limit reached —
98 Software limit warning
98.2 Reverse rotation-side software stroke limit reached —
99.1 Forward rotation stroke end off
99 Stroke limit warning
99.2 Reverse rotation stroke end off
9F.1 Low battery —
9F Battery warning
Warning
9F.2 Battery degradation warning —

E0 Excessive regeneration warning E0.1 Excessive regeneration warning —
E1.1 Thermal overload warning 1 during operation —
E1 Overload warning 1
E1.5 Thermal overload error 1 during a stop —
E2 Servo motor overheat warning E2.1 Servo motor temperature warning —
Multi-revolution counter travel distance excess
E3.1 —
warning
E3.2 Absolute position counter warning —
E3 Absolute position counter warning
Absolute positioning counter EEP-ROM writing
E3.4 —
frequency warning
E3.5 Encoder absolute positioning counter warning —
E5.1 Time-out during ABS data transfer —
E5 ABS time-out warning E5.2 ABSM off during ABS data transfer —
E5.3 SON off during ABS data transfer —
E6 Servo forced stop warning E6.1 Forced stop warning SD
Cooling fan speed reduction E8.1 Decreased cooling fan speed warning —
E8
warning E8.2 Cooling fan stop —
E9.1 Servo-on signal on during main circuit off DB
E9 Main circuit off warning
E9.2 Bus voltage drop during low speed operation DB
Tab. 8-3: Warning list of MR-J4-A(-RJ) (1)
8-8
method ,
number
Detail
Stop
EA ABS servo-on warning EA.1 ABS servo-on warning —
EC Overload warning 2 EC.1 Overload warning 2 —
ED Output watt excess warning ED.1 Output watt excess warning —
Warning
F0.1 Instantaneous power failure tough drive warning —

F0 Tough drive warning
F0.3 Vibration tough drive warning —
F2.1 Drive recorder - Area writing time-out warning —
F2 Drive recorder - Miswriting warning
F2.2 Drive recorder - Data miswriting warning —
F3 Oscillation detection warning F3.1 Oscillation detection warning —
Tab. 8-3: Warning list of MR-J4-A(-RJ) (2)


The following shows two stop methods of DB and SD.

Quick stop or slow stop can be selected using parameter PD30.
Only for MR-J4-A-RJ

Troubleshooting Alarm and warning list MR-J4-B(-RJ)
8.2 Alarm and warning list MR-J4-B(-RJ)
and warnings.
AL. 37 (Parameter error) and warnings are not recorded in the alarm history.
shooting)” to remove the failure. When an alarm occurs, ALM will turn off.
removed.
stop deceleration.
Alarm deactivation
Error reset
CPU reset
off to on
number
method
Power
Detail
Stop
10.1 EDB ✔ ✔ ✔
10 Undervoltage power
10.2 Voltage drop in the main circuit power SD ✔ ✔ ✔
12 Memory error 1 (RAM) 12.3 RAM error 3 DB — — ✔
13 Clock error
Alarm

14 Control process error
14.A Control process error 10 DB — — ✔
Memory error 2 15.1 EEP-ROM error at power on DB — — ✔
15
(EEP-ROM) 15.2 EEP-ROM error during operation DB — — ✔
Tab. 8-4: Alarm list of MR-J4-B(-RJ) (1)
8 - 10
Alarm and warning list MR-J4-B(-RJ) Troubleshooting
Alarm deactivation
Error reset
CPU reset
off to on
number
method
Power
Detail
Stop
Encoder initial communication - Receive
16.1 DB — — ✔
data error 1
16.2 DB — — ✔
data error 2
16.3 DB — — ✔
data error 3
Encoder initial communication - Trans-
16.5 DB — — ✔
mission data error 1
16.6 DB — — ✔
mission data error 2
16.7 DB — — ✔
Encoder initial mission data error 3
16
communication error 1 Encoder initial communication - Process
16.A DB — — ✔
error 1
Encoder initial communication - Process
16.B DB — — ✔
error 2
16.C DB — — ✔
error 3
16.D DB — — ✔
error 4
Alarm

16.E DB — — ✔
error 5
16.F DB — — ✔
error 6
17 Board error
17.8 Board error 6 EDB — — ✔
Memory error 3 19.1 Flash-ROM error 1 DB — — ✔

19
(FLASH-ROM) 19.2 Flash-ROM error 2 DB — — ✔
1A.1 Servo motor combination error DB — — ✔
Servo motor
1A Servo motor control mode combination
combination error 1A.2 DB — — ✔
error
Encoder initial 1E.1 Encoder malfunction DB — — ✔
1E
communication error 2 1E.2 Load-side encoder malfunction DB — — ✔
Encoder initial 1F.1 Incompatible encoder DB — — ✔
1F
communication error 3 1F.2 Incompatible load-side encoder DB — — ✔

Alarm deactivation
Error reset
CPU reset
off to on
number
method
Power
Detail
Stop
20.1 EDB — — ✔
20.2 EDB — — ✔
20.3 EDB — — ✔
20.5 EDB — — ✔
Encoder normal Transmission data error 1
20
communication error 1 Encoder normal communication -
20.6 EDB — — ✔
20.7 EDB — — ✔
20.9 EDB — — ✔
20.A EDB — — ✔
21.2 Encoder data update error EDB — — ✔
21.3 Encoder data waveform error EDB — — ✔
Encoder normal
21 21.4 Encoder non-signal error EDB — — ✔
communication error 2
Alarm

24.1 DB — — ✔
detection circuit
24 Main circuit error
24.2 DB ✔ ✔ ✔
detection function
Servo motor encoder - Absolute
25.1 DB — — ✔
Absolute position position erased
25
erased Scale measurement encoder - Absolute
25.2 DB — — ✔
position erased
27.1 DB — — ✔
27.2 DB — — ✔
out error
27.3 DB — — ✔
switch error
27 27.4 DB — — ✔
27.5 DB — — ✔
Initial magnetic pole detection - Speed
27.6 DB — — ✔
deviation error
Initial magnetic pole detection - Current
27.7 DB — — ✔
error
28 Linear encoder error 2 28.1 Linear encoder - Environment error EDB — — ✔
8 - 12
Alarm deactivation
Error reset
CPU reset
off to on
number
method
Power
Detail
Stop
2A Linear encoder error 1
2B Encoder counter error
30.1 Regeneration heat error DB ✔ ✔ ✔
30 Regenerative error 30.2 Regeneration signal error DB ✔ ✔ ✔

30.3 Regeneration feedback signal error DB ✔ ✔ ✔
31 Overspeed 31.1 Abnormal motor speed SD ✔ ✔ ✔
32.1 DB — — ✔
32.2 DB ✔ ✔ ✔
detection function (during operation)
32 Overcurrent
32.3 DB — — ✔
32.4 DB ✔ ✔ ✔
33 Overvoltage 33.1 Main circuit voltage error EDB ✔ ✔ ✔
34.1 SSCNET receive data error SD ✔ ✔ ✔
Alarm
34.2 SSCNET connector connection error SD ✔ ✔ ✔

34 SSCNET receive error 1
34.3 SSCNET communication data error SD ✔ ✔ ✔
34.4 Hardware error signal detection SD ✔ ✔ ✔
Command frequency
35 35.1 Command frequency error SD ✔ ✔ ✔
error
36 SSCNET receive error 2 36.1 Continuous communication data error SD ✔ ✔ ✔
37.1 Parameter setting range error DB — ✔ ✔
37 Parameter error
37.2 Parameter combination error DB — ✔ ✔
Inrush current suppres-
3A 3A.1 Inrush current suppression circuit error EDB — — ✔
sion circuit error
Parameter combination error for driver
Parameter setting error 3D.1 DB — — ✔
communication on slave
3D for driver communica-
tion Parameter combination error for driver
3D.2 DB — — ✔
communication on master
3E Operation mode error 3E.1 Operation mode error DB — — ✔
42.1 EDB ✔ ✔ ✔
deviation
Servo control error (for
linear servo motor and 42.2 Servo control error by speed deviation EDB ✔ ✔ ✔
direct drive motor)
42.3 EDB ✔ ✔ ✔
deviation
42 Fully closed loop control error by posi-
42.8 EDB ✔ ✔ ✔
tion deviation
Fully closed loop con-
Fully closed loop control error by posi-
trol error (for fully 42.9 EDB ✔ ✔ ✔
tion deviation
closed loop control)
Fully closed loop control error by posi-
42.A EDB ✔ ✔ ✔
tion deviation during command stop

Alarm deactivation
Error reset
CPU reset
off to on
number
method
Power
Detail
Stop
Main circuit device
45 45.1 Main circuit device overheat error SD ✔ ✔ ✔
overheat
46.1 Abnormal temperature of servo motor 1 SD ✔ ✔ ✔

46.2 Abnormal temperature of servo motor 2 SD ✔ ✔ ✔
Servo motor
46 46.3 Thermistor disconnected error SD ✔ ✔ ✔
overheat

46.5 Abnormal temperature of servo motor 3 DB ✔ ✔ ✔
46.6 Abnormal temperature of servo motor 4 DB ✔ ✔ ✔
47.1 Cooling fan stop error SD — — ✔
47 Cooling fan error
47.2 Cooling fan speed reduction error SD — — ✔
50.1 SD ✔ ✔ ✔
operation
50.2 SD ✔ ✔ ✔
operation
50 Overload 1 50.3
SD ✔ ✔ ✔
operation
✔ ✔ ✔
Alarm
50.4 Thermal overload error 1 during a stop SD

50.5 Thermal overload error 2 during a stop SD ✔ ✔ ✔
50.6 Thermal overload error 4 during a stop SD ✔ ✔ ✔
Thermal overload error 3 during opera-
51.1 DB ✔ ✔ ✔
51 Overload 2 tion
51.2 Thermal overload error 3 during a stop DB ✔ ✔ ✔
52 Error excessive
52.4 Error excessive during 0 torque limit SD ✔ ✔ ✔
52.5 Excess droop pulse 3 EDB ✔ ✔ ✔
54 Oscillation detection 54.1 Oscillation detection error EDB ✔ ✔ ✔
56.2 Over speed during forced stop EDB ✔ ✔ ✔
56 Forced stop error Estimated distance over during forced
56.3 EDB ✔ ✔ ✔
stop
63.1 STO1 off DB ✔ ✔ ✔
63 STO timing error
63.2 STO2 off DB ✔ ✔ ✔
8 - 14
Alarm deactivation
Error reset
CPU reset
off to on
number
method
Power
Detail
Stop
Load-side encoder initial communica-
70.1 DB — — ✔
tion - Receive data error 1
70.2 DB — — ✔
70.3 DB — — ✔
70.5 DB — — ✔
tion - Transmission data error 1
70.6 DB — — ✔
Load-side encoder 70.7 DB — — ✔
70 initial communication
error 1 Load-side encoder initial communica-
70.A DB — — ✔
tion - Process error 1
70.B DB — — ✔
70.C DB — — ✔
70.D DB — — ✔
70.E DB — — ✔
70.F DB — — ✔
71.1 EDB — — ✔
Alarm

71.2 EDB — — ✔
71.3 EDB — — ✔
Load-side encoder 71.5 EDB — — ✔
71 normal communication
error 1 Load-side encoder communication -
71.6 EDB — — ✔
71.7 EDB — — ✔
71.9 EDB — — ✔
71.A EDB — — ✔
72.2 Load-side encoder data update error EDB — — ✔
72.3 Load-side encoder data waveform error EDB — — ✔
Load-side encoder
72 normal communication 72.4 Load-side encoder non-signal error EDB — — ✔
error 2
Master-slave operation
82 82.1 Master-slave operation error 1 EDB ✔ ✔ ✔
error 1
USB communication
8A 8A.1 USB communication time-out error SD ✔ ✔ ✔
timeout error

Alarm deactivation
Error reset
CPU reset
off to on
number
method
Power
Detail
Stop
8E.1 USB communication receive error SD ✔ ✔ ✔
8E.2 USB communication checksum error SD ✔ ✔ ✔
USB communication
8E 8E.3 USB communication character error SD ✔ ✔ ✔
Alarm
error
8E.4 USB communication command error SD ✔ ✔ ✔
8E.5 USB communication data number error SD ✔ ✔ ✔
888 Watchdog 88._ Watchdog DB — — ✔


In some controller communication status, the alarm factor may not be removed.

The alarm can be cancelled by setting as follows:
– For the fully closed loop control: set parameter PE03 to “1”.
– When a linear servo motor or a direct drive motor is used: set parameter PL04 to “1”.
Series Servo Motor

This alarm will occur only in the J3 compatibility mode.
8 - 16
method ,
number
Detail
Stop
91 Servo amplifier overheat warning 91.1 Main circuit device overheat warning —
92.1 Encoder battery cable disconnection warning —
92 Battery cable disconnection warning
92.3 Battery degradation —
95 STO warning
96.1 In-position warning at home positioning —
96 Home position setting warning
96.2 Command input warning at home positioning —
9F.1 Low battery —
9F Battery warning
9F.2 Battery degradation warning —
E0 Excessive regeneration warning E0.1 Excessive regeneration warning —
E1 Overload warning 1
Warning

E2 Servo motor overheat warning E2.1 Servo motor temperature warning —
E3.2 Absolute position counter warning —
E3 Absolute position counter warning
E3.5 Encoder absolute positioning counter warning —
E4 Parameter warning E4.1 Parameter setting range error warning —
E6 Servo forced stop warning E6.1 Forced stop warning SD
E7 Controller forced stop warning E7.1 Controller forced stop warning SD
Cooling fan speed reduction E8.1 Decreased cooling fan speed warning —
E8
warning E8.2 Cooling fan stop —
E9.1 Servo-on signal on during main circuit off DB
E9 Main circuit off warning E9.2 Bus voltage drop during low speed operation DB
E9.3 Ready-on signal on during main circuit off DB
EC Overload warning 2 EC.1 Overload warning 2 —
ED Output watt excess warning ED.1 Output watt excess warning —
F0.1 Instantaneous power failure tough drive warning —
F0 Tough drive warning
F0.3 Vibration tough drive warning —
F2.1 Drive recorder - Area writing time-out warning —
F2 Drive recorder - Miswriting warning
F2.2 Drive recorder - Data miswriting warning —
F3 Oscillation detection warning F3.1 Oscillation detection warning —
Tab. 8-5: Warning list of MR-J4-B(-RJ)




Troubleshooting Alarm and warning list MR-J4W-B
8.3 Alarm and warning list MR-J4W-B
and warnings.
If an alarm which indicates each axis in the stop method column occurs, the axis without the alarm
operates the servo motor as per normal.
AL. 37 (Parameter error) and warnings are not recorded in the alarm history.
shooting)” to remove the failure. When an alarm occurs, ALM (Malfunction for -axis) will turn off.
removed.
stop deceleration.
Alarm deactivation
Stop system
Processing
Error reset
CPU reset
off to on
number
method
system
Power
Detail
Stop
10.1 Common All axes EDB ✔ ✔ ✔
power
10 Undervoltage
Voltage drop in the main circuit
10.2 Common All axes SD ✔ ✔ ✔
power
11.1 Axis number setting error Common All axes DB — — ✔
11 Switch setting error
11.2 Disabling control axis setting error Common All axes DB — — ✔
12.1 RAM error 1 Common All axes DB — — ✔
12 Memory error 1 (RAM) 12.3 RAM error 3 Common All axes DB — — ✔
✔
Alarm
13.1 Clock error 1 Common All axes DB — —

13 Clock error
13.2 Clock error 2 Common All axes DB — — ✔
14.1 Control process error 1 Common All axes DB — — ✔
14 Control process error
14.A Control process error 10 Common All axes DB — — ✔
Tab. 8-6: Alarm list of MR-J4W-B (1)
8 - 18
Alarm and warning list MR-J4W-B Troubleshooting
Alarm deactivation
Stop system
Processing
Error reset
CPU reset
off to on
number
method
system
Power
Detail
Stop
Memory error 2 15.1 EEP-ROM error at power on Common All axes DB — — ✔

15
(EEP-ROM) 15.2 EEP-ROM error during operation Common All axes DB — — ✔
16.1 Each axis Each axis DB — — ✔
Encoder initial Transmission data error 3
16
communication error 1 Encoder initial communication -
16.A Each axis Each axis DB — — ✔
Process error 1
16.B Each axis Each axis DB — — ✔
Process error 2
16.C Each axis Each axis DB — — ✔
Process error 3
16.D Each axis Each axis DB — — ✔
Alarm
Process error 4
16.E Each axis Each axis DB — — ✔
Process error 5
16.F Each axis Each axis DB — — ✔
Process error 6
17.1 Board error 1 Common All axes DB — — ✔
17 Board error
17.8 Common All axes EDB — — ✔
Board error 6
Memory error 3 19.1 Flash-ROM error 1 Common All axes DB — — ✔

19
(FLASH-ROM) 19.2 Flash-ROM error 2 Common All axes DB — — ✔
1A.1 Servo motor combination error Each axis Each axis DB — — ✔
Servo motor
1A Servo motor control mode combina-
combination error 1A.2 Each axis Each axis DB — — ✔
tion error
Encoder initial 1E.1 Encoder malfunction Each axis Each axis DB — — ✔

1E
communication error 2 1E.2 Load-side encoder malfunction Each axis Each axis DB — — ✔
Encoder initial 1F.1 Incompatible encoder Each axis Each axis DB — — ✔

1F
communication error 3 1F.2 Incompatible load-side encoder Each axis Each axis DB — — ✔

Alarm deactivation
Stop system
Processing
Error reset
CPU reset
off to on
number
method
system
Power
Detail
Stop
20.1 Each axis Each axis EDB — — ✔
Encoder normal Transmission data error 1
20
communication error 1 Encoder normal communication -
20.A Each axis Each axis EDB — — ✔
21.1 Encoder data error 1 Each axis Each axis EDB — — ✔
21.2 Encoder data update error Each axis Each axis EDB — — ✔
21.3 Encoder data waveform error Each axis Each axis EDB — — ✔
Encoder normal
21 21.4 Encoder non-signal error Each axis Each axis EDB — — ✔
communication error 2
21.5 Encoder hardware error 1 Each axis Each axis EDB — — ✔
21.6 Encoder hardware error 2 Each axis Each axis EDB — — ✔
Alarm
21.9 Encoder data error 2 Each axis Each axis EDB — — ✔

detection circuit
24 Main circuit error
24.2 Each axis Each axis DB ✔ ✔ ✔
detection function
Servo motor encoder - Absolute
Absolute position position erased
25
erased Scale measurement encoder - Abso-
lute position erased
out error
switch error
27 27.4 Each axis Each axis DB — — ✔
Speed deviation error
Current error
28 Linear encoder error 2 28.1 Linear encoder - Environment error Each axis Each axis EDB — — ✔
8 - 20
Alarm deactivation
Stop system
Processing
Error reset
CPU reset
off to on
number
method
system
Power
Detail
Stop
2A.1 Linear encoder error 1-1 Each axis Each axis EDB — — ✔
2A Linear encoder error 1
2B.1 Encoder counter error 1 Each axis Each axis EDB — — ✔
2B Encoder counter error
2B.2 Encoder counter error 2 Each axis Each axis EDB — — ✔
30.1 Regeneration heat error Common All axes DB ✔ ✔ ✔
30 Regenerative error 30.2 Regeneration signal error Common All axes DB ✔ ✔ ✔
30.3 Regeneration feedback signal error Common All axes DB ✔ ✔ ✔
31 Overspeed 31.1 Abnormal motor speed Each axis Each axis SD ✔ ✔ ✔
32.1 Each axis All axes DB — — ✔
Alarm
32.2 detection function Each axis All axes DB ✔ ✔ ✔

32 Overcurrent (during operation)
32.3 Each axis All axes DB — — ✔
32.4 Each axis All axes DB ✔ ✔ ✔
33 Overvoltage 33.1 Main circuit voltage error Common All axes EDB ✔ ✔ ✔
34.1 SSCNET receive data error Common All axes SD ✔ ✔ ✔
34.2 SSCNET connector connection error Common All axes SD ✔ ✔ ✔
34 SSCNET receive error 1
34.3 SSCNET communication data error Each axis Each axis SD ✔ ✔ ✔
34.4 Hardware error signal detection Common All axes SD ✔ ✔ ✔
Command frequency
35 35.1 Command frequency error Each axis Each axis SD ✔ ✔ ✔
error
Continuous communication data
36 SSCNET receive error 2 36.1 Each axis Each axis SD ✔ ✔ ✔
error
37.1 Parameter setting range error Each axis Each axis DB — ✔ ✔
37 Parameter error
37.2 Parameter combination error Each axis Each axis DB — ✔ ✔
Inrush current suppres- Inrush current suppression circuit
3A 3A.1 Common All axes DB — — ✔
sion circuit error error
3E Operation mode error 3E.1 Operation mode error Common All axes DB — — ✔

Alarm deactivation
Stop system
Processing
Error reset
CPU reset
off to on
number
method
system
Power
Detail
Stop
42.1 Each axis Each axis EDB ✔ ✔ ✔
deviation
Servo control error by speed
deviation
deviation
42 Servo control error Fully closed loop control error by
position deviation
speed deviation
42.A position deviation Each axis Each axis EDB ✔ ✔ ✔
(during command stop)
Main circuit device
45 45.1 Main circuit device overheat error Common All axes SD ✔ ✔ ✔
overheat
46.1 Each axis Each axis SD ✔ ✔ ✔
motor 1
motor 2
Servo motor
46 46.3 Thermistor disconnected error Each axis Each axis SD ✔ ✔ ✔
overheat
motor 3
motor 4
47.1 Cooling fan stop error Common All axes SD — — ✔
Alarm
47 Cooling fan error

47.2 Cooling fan speed reduction error Common All axes SD — — ✔
operation
operation
operation
50 Overload 1
stop
stop
stop
operation
51
Overload 2
stop
52.1 Excess droop pulse 1 Each axis Each axis SD ✔ ✔ ✔
52.3 Excess droop pulse 2 Each axis Each axis SD ✔ ✔ ✔
52 Error excessive
52.4 Error excessive during 0 torque limit Each axis Each axis SD ✔ ✔ ✔
52.5 Excess droop pulse 3 Each axis Each axis DB ✔ ✔ ✔
54 Oscillation detection 54.1 Oscillation detection error Each axis Each axis DB ✔ ✔ ✔
56.2 Over speed during forced stop Each axis Each axis DB ✔ ✔ ✔
56 Forced stop error Estimated distance over during
forced stop
8 - 22
Alarm deactivation
Stop system
Processing
Error reset
CPU reset
off to on
number
method
system
Power
Detail
Stop
63.1 STO1 off Common All axes DB ✔ ✔ ✔
63 STO timing error
63.2 STO2 off Common All axes DB ✔ ✔ ✔
Load-side encoder 70.7 Each axis Each axis DB — — ✔
70 initial communication
error 1 Load-side encoder initial communi-
70.B Each axis Each axis DB — — ✔
70.C Each axis Each axis DB — — ✔
70.D Each axis Each axis DB — — ✔
70.E Each axis Each axis DB — — ✔
✔
Alarm
70.F Each axis Each axis DB — —

Load-side encoder 71.5 Each axis Each axis DB — — ✔
error 1 Load-side encoder communication -
72.1 Load-side encoder data error 1 Each axis Each axis DB — — ✔
72.2 Load-side encoder data update error Each axis Each axis DB — — ✔
Load-side encoder data waveform
Load-side encoder error
72.4 Load-side encoder non-signal error Each axis Each axis DB — — ✔
error 2
72.5 Load-side encoder hardware error 1 Each axis Each axis DB — — ✔
72.6 Load-side encoder hardware error 2 Each axis Each axis DB — — ✔
72.9 Load-side encoder data error 2 Each axis Each axis DB — — ✔

Alarm deactivation
Stop system
Processing
Error reset
CPU reset
off to on
number
method
system
Power
Detail
Stop
USB communication
8A 8A.1 USB communication time-out error Common All axes SD ✔ ✔ ✔
timeout error
8E.1 USB communication receive error Common All axes SD ✔ ✔ ✔
8E.2 USB communication checksum error Common All axes SD ✔ ✔ ✔
Alarm
USB communication 8E.3 USB communication character error Common All axes SD ✔ ✔ ✔
8E
error
8E.4 USB communication command error Common All axes SD ✔ ✔ ✔
USB communication data number
8E.5 Common All axes SD ✔ ✔ ✔
error
888 Watchdog 88._ Watchdog Common All axes DB — — ✔

In some controller communication status, the alarm factor may not be removed.

The alarm can be cancelled by setting as follows:
When a linear servo motor or a direct drive motor is used: set parameter PL04 to “1”.
Series Servo Motor

Processing system indicates as follows:
Each axis: an alarm is detected for each axis.
Common: an alarm is detected for the entire servo amplifier.

This alarm will occur only in the J3 compatibility mode.
8 - 24
method ,
Processing
number
system
system
Detail
Stop
Stop
Servo amplifier
91 91.1 Main circuit device overheat warning Common — —
overheat warning
Encoder battery cable disconnection
Battery cable 92.1 Each axis — —
92 warning
disconnection warning
92.3 Battery degradation Each axis — —
95.1 STO1 off detection Common All axes DB
95 STO warning
95.2 STO2 off detection Common All axes DB
96.1 In-position warning at home positioning Each axis — —
Home position setting
96 Command input warning at home
warning 96.2 Each axis — —
positioning
9F.1 Low battery Each axis — —
9F Battery warning
9F.2 Battery degradation warning Each axis — —
Excessive regeneration
E0 E0.1 Excessive regeneration warning Common — —
warning
Thermal overload warning 1 during
E1.1 Each axis — —
operation
operation
operation
E1 Overload warning 1 Thermal overload warning 4 during
operation
E1.5 Thermal overload error 1 during a stop Each axis — —
Warning

Servo motor overheat
E2 E2.1 Servo motor temperature warning Each axis — —
warning
E3.2 Absolute position counter warning Each axis — —
Absolute position
E3 Encoder absolute positioning counter
counter warning E3.5 Each axis — —
warning
E4 Parameter warning E4.1 Parameter setting range error warning Each axis — —
Servo forced stop
E6 E6.1 Forced stop warning Common All axes SD
warning
Controller forced stop
E7 E7.1 Controller forced stop warning Common All axes SD
warning
Cooling fan speed E8.1 Decreased cooling fan speed warning Common — —
E8
reduction warning E8.2 Cooling fan stop Common — —
Servo-on signal on during main circuit
E9.1 Common All axes DB
off
Bus voltage drop during low speed
E9 Main circuit off warning E9.2 Common All axes DB
operation
Ready-on signal on during main circuit
E9.3 Common All axes DB
off
The other axis error
EB EB.1 The other axis error warning Each axis All axes DB
warning
EC Overload warning 2 EC.1 Overload warning 2 Each axis — —
Output watt excess
ED ED.1 Output watt excess warning Each axis — —
warning
Tab. 8-7: Warning list of MR-J4W-B (1)

method ,
Processing
number
system
system
Detail
Stop
Stop
Instantaneous power failure tough drive
F0.1 Each axis — —
F0 Tough drive warning warning
F0.3 Vibration tough drive warning Each axis — —
Warning
Drive recorder - Area writing time-out

F2.1 Common — —
Drive recorder - warning
F2
Miswriting warning Drive recorder - Data miswriting
F2.2 Common — —
warning
Oscillation detection
F3 F3.1 Oscillation detection warning Each axis — —
warning
Tab. 8-7: Warning list of MR-J4W-B (2)


Stopping all axes or each axis can be selected using parameter PF02.
Processing system indicates as follows:
Each axis: an alarm is detected for each axis.
Common: an alarm is detected for the entire servo amplifier
8 - 26
Remedies for alarms Troubleshooting
8.4 Remedies for alarms
b
WARNING:
● When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm
before restarting operation. Otherwise, it may cause injury.
● If AL. 25 (Absolute position erased) occurs, always make home position setting again. Oth-
erwise, it may cause an unexpected operation.
● As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.
NOTES When any of the following alarms has occurred, do not cycle the power repeatedly to restart.
Doing so will cause a malfunction of the servo amplifier and the servo motor. Remove its cause
and allow about 30 minutes for cooling before resuming the operation.
– AL. 30 (Regenerative error)
– AL. 45 (Main circuit device overheat
– AL. 46 (Servo motor overheat)
– AL. 50 (Overload 1)
– AL. 51 (Overload 2)
AL. 37 (Parameter error) is not recorded in the alarm history.
Remove the cause of the alarm in accordance with this chapter. Use MR Configurator2 to refer to a fac-
tor of alarm occurrence.

Troubleshooting Remedies for warnings
8.5 Remedies for warnings
b
WARNING:
If AL. E3 (Absolute position counter warning) occurs, always make home position setting again.
Otherwise, it may cause an unexpected operation.
NOTES When any of the following warnings has occurred, do not cycle the power of the servo amplifier
repeatedly to restart. Doing so will cause a malfunction of the servo amplifier and the servo motor.
If the power of the servo amplifier is switched off/on during the alarms, allow more than 30 min-
utes for cooling before resuming operation.
– AL. 91 (Servo amplifier overheat warning)
– AL. E0 (Excessive regeneration warning)
– AL. E1 (Overload warning 1)
– AL. E2 (Servo motor overheat warning)
– AL. EC (Overload warning 2)
Warnings are not recorded in the alarm history.
If AL. E6, AL. E7, AL. E9, AL. EA, or AL. EB occurs, the servo-off status is established. If any other warning
occurs, operation can be continued but an alarm may take place or proper operation may not be
performed.
Remove the cause of warning according to this chapter. Use MR Configurator2 to refer to a factor of
warning occurrence.
8.6 Trouble which does not trigger alarm/warning

For possible causes which do not trigger alarm or warning refer to “MELSERVO J4 Servo Amplifier
Instruction Manual (Troubleshooting)”.
Remove each cause referring to the respective sections of the manuals.
8 - 28
Additional information about the series MR-J4-A Appendix
A Appendix
A.1 Additional information about the series MR-J4-A
A.1.1 Status Display
Status display Symbol Unit Description
Feedback pulses from the servo motor encoder are counted and displayed.
The values in excess of ±99999 can be counted. However, the counter shows only the
Cumulative feedback pulses C pulse lower five digits of the actual value since the servo amplifier display is five digits.
Press the “SET” button to reset the display value to zero.
The value of minus is indicated by the lit decimal points in the upper four digits.
Servo motor speed/ Linear 1/min The servo motor speed or Linear servo motor speed is displayed.
r
servo motor speed mm/s It is displayed rounding off 0.1 1/min (0.1 mm/s) unit.
The number of droop pulses in the deviation counter are displayed.
The decimal points in the upper four digits are lit for reverse rotation pulses.
Droop pulses E pulse The values in excess of ±99999 can be counted. However, the counter shows only the
lower five digits of the actual value since the servo amplifier display is five digits.
The number of pulses displayed is in the encoder pulse unit.
Position command input pulses are counted and displayed.
As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it may
not match the indication of the cumulative feedback pulses.
Cumulative command pulses P pulse
lower five digits of the actual value since the servo amplifier display is five digits.
When the servo motor is rotating in the reverse direction, the decimal points in the
upper four digits are lit.
The frequency of position command input pulses is counted and displayed.
Command pulse frequency n kpulse/s
The value displayed is not multiplied by the electronic gear (CMX/CDV).
1) Torque control mode
Analog speed command Input voltage of VLA (Analog speed limit) voltage is displayed.
voltage F V
Analog speed limit voltage 2) Speed control mode
Input voltage of VC (Analog speed command) voltage is displayed
1) Position control mode and speed control mode
Analog torque command Voltage of TLA (Analog torque limit) voltage is displayed.
voltage U V
Analog torque limit voltage 2) Torque control mode
Voltage of TC (Analog torque command) voltage is displayed.
Regenerative load ratio L % The ratio of regenerative power to permissible regenerative power is displayed in %.
The continuous effective load current is displayed.
Effective load ratio J %
The effective value in the past 15 s is displayed relative to the rated current of 100 %.
The maximum occurrence torque is displayed.
Peak load ratio b %
The highest value in the past 15 s is displayed relative to the rated current of 100 %.
The instantaneous occurrence torque is displayed.
Instantaneous torque T % The value of torque being occurred is displayed in real time considering a rated
torque as 100 %.
Position within one revolution is displayed in encoder pulses.
Within one-revolution position The values in excess of ±99999 can be counted. However, the counter shows only the
Cy1 pulse
(1 pulse unit) lower five digits of the actual value since the servo amplifier display is five digits.
When the servo motor rotates in the CCW direction, the value is added.
The within one-revolution position is displayed in 1000 pulse increments of the
Within one-revolution position 1000 encoder.
Cy2
(1000 pulse unit) pulses
When the servo motor rotates in the CCW direction, the value is added.
The travel distance from the home position is displayed as multi-revolution counter
ABS counter LS rev
value of the absolution position encoder in the absolution position detection system.
The estimated ratio of the load inertia moment to the servo motor shaft inertia
Load to motor inertia ratio dC Multiplier
moment is displayed.
Tab. A-1: Status display list of MR-J4-A (1)
Beginners Manual Servo Amplifiers MELSERVO J4 A-1

Appendix Additional information about the series MR-J4-A

Bus voltage Pn V The voltage of main circuit converter (between P+ and N–) is displayed.
Encoder inside temperature ETh °C Inside temperature of encoder detected by the encoder is displayed.
Settling time ST ms Settling time is displayed. When it exceeds 1000 ms, “1000” will be displayed.
Oscillation detection frequency oF Hz Frequency at the time of oscillation detection is displayed.
Number of tough drive
Td times The number of tough drive functions activated is displayed.
operations
Unit power consumption is displayed by increment of 1 W. Positive value indicate
Unit power consumption 1 power running, and negative value indicate regeneration. The values in excess of
PC1 W
(increment of 1 W) ±99999 can be counted. However, the counter shows only the lower five digits of the
actual value since the servo amplifier display is five digits.
Unit power consumption 2 Unit power consumption is displayed by increment of 1 kW. Positive value indicate
PC2 kW
(increment of 1 kW) power running, and negative value indicate regeneration.
Unit total power consumption is displayed by increment of 1 Wh. Positive value is
Unit total power consumption 1 cumulated during power running and negative value during regeneration. The values
TPC1 Wh
(increment of 1 Wh) in excess of ±99999 can be counted. However, the counter shows only the lower five
digits of the actual value since the servo amplifier display is five digits.
Unit total power consumption 2 Unit total power consumption is displayed by increment of 100 kWh. Positive value is
TPC2 100 kWh
(increment of 100 kWh) cumulated during power running and negative value during regeneration.
Feedback pulses from the load-side encoder are counted and displayed.
Load-side encoder Cumulative lower five digits of the actual value since the servo amplifier display is five digits.
FC pulse
feedback pulses
The value of minus is indicated by the lit decimal points in the upper four digits.
Droop pulses of the deviation counter between a load-side encoder and a command
are displayed. When the count exceeds ±99999, it starts from 0.
Load-side encoder Droop pulses FE pulse
Negative value is indicated by the lit decimal points in the upper four digits.
The display shows the average droop pulses of 128 samplings at the rate of 444 [μs].
The Z-phase counter of a load-side encoder is displayed in the encoder pulse unit.
Load-side encoder For an incremental linear encoder, the Z-phase counter is displayed. The value is
information 1 FCY1 pulse counted up from 0 based on the home position (reference mark). For an absolute
(1 pulse unit) position linear encoder, the encoder absolute position is displayed.
When the count exceeds 99999, it starts from 0.
The Z-phase counter of a load-side encoder is displayed by increments of 100 pulses.
Load-side encoder For an incremental linear encoder, the Z-phase counter is displayed. The value is
information 1 FCY2 100 pulses counted up from 0 based on the home position (reference mark). For an absolute
(100 pulses unit) position linear encoder, the encoder absolute position is displayed.
When an incremental linear encoder is used as the load-side encoder, the display
shows 0.
Load-side encoder When an absolute position linear encoder is used as the load-side encoder, the dis-
FL5 rev
information 2 play shows 0.
When a rotary encoder is used as the load-side encoder, the display shows the value
of the multi-revolution counter.
The Z-phase counter is displayed in the encoder pulse unit.
For an incremental linear encoder, the Z-phase counter is displayed. The value is
Z-phase counter low FCY1 pulse counted up from 0 based on the home position (reference mark). For an absolute
position linear encoder, the encoder absolute position is displayed.
The Z-phase counter is displayed by increments of 100000 pulses.
For an incremental linear encoder, the Z-phase counter is displayed. The value is
100000
Z-phase counter high FCY2 counted up from 0 based on the home position (reference mark). For an absolute
pulses
position linear encoder, the encoder absolute position is displayed.
Electrical angle low ECY1 pulse The servo motor electrical angle is displayed.
100000
Electrical angle high ECY2 The servo motor electrical angle is displayed by increments of 100000 pulses.
pulses
Tab. A-1: Status display list of MR-J4-A (2)
parameter PC36 settings.
A-2
A.1.2 Basic setting parameters (PA)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PA03 *ABS Absolute position detection system 0000H — ✔ ✔ ✔ ✔ ✔ — —
PA05 *FBP Number of command input pulses per revolution 10000 — ✔ ✔ ✔ ✔ ✔ — —
PA06 CMX Electronic gear numerator (command pulse multiplication numerator) 1 — ✔ ✔ ✔ ✔ ✔ — —
PA07 CDV 1 — ✔ ✔ ✔ ✔ ✔ — —
(command pulse multiplication denominator)
PA08 ATU Auto tuning mode 0001H — ✔ ✔ ✔ ✔ ✔ ✔ —
PA09 RSP Auto tuning response 16 — ✔ ✔ ✔ ✔ ✔ ✔ —
PA10 INP In-position range 100 pulse ✔ ✔ ✔ ✔ ✔ — —
PA13 *PLSS Command pulse input form 0100H — ✔ ✔ ✔ ✔ ✔ — —
PA14 *POL Rotation direction selection/travel direction selection 0 — ✔ ✔ ✔ ✔ ✔ — —
PA24 AOP4 Function selection A-4 0000H — ✔ ✔ ✔ ✔ ✔ ✔ —
PA25 OTHOV One-touch tuning – Overshoot permissible level 0 % ✔ ✔ ✔ ✔ ✔ ✔ —
PA27 — 0000H — — — — — — — —
PA28 — 0000H — — — — — — — —
PA29 — 0000H — — — — — — — —
PA30 — 0000H — — — — — — — —
PA31 — 0000H — — — — — — — —
PA32 — 0000H — — — — — — — —
Tab. A-2: List of basic setting parameters for MR-J4-A

A.1.3 Gain/filter setting parameters (PB)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Vibration suppression control tuning mode (advanced vibration sup-
PB02 VRFT 0000H — ✔ ✔ ✔ ✔ ✔ — —
pression control II)
Position command acceleration/deceleration time constant (position
PB03 PST 0 ms ✔ ✔ ✔ ✔ ✔ — —
smoothing)
PB04 FFC Feed forward gain 0 % ✔ ✔ ✔ ✔ ✔ — —
PB05 — For manufacturer setting 500 — — — — — — — —
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 Multiplier ✔ ✔ ✔ ✔ ✔ ✔ —
PB07 PG1 Model loop gain 15.0 rad/s ✔ ✔ ✔ ✔ ✔ ✔ —
PB08 PG2 Position loop gain 37.0 rad/s ✔ ✔ ✔ ✔ ✔ — —
PB09 VG2 Speed loop gain 823 rad/s ✔ ✔ ✔ ✔ ✔ ✔ —
PB10 VIC Speed integral compensation 33.7 ms ✔ ✔ ✔ ✔ ✔ ✔ —
PB11 VDC Speed differential compensation 980 — ✔ ✔ ✔ ✔ ✔ ✔ —
PB12 OVA Overshoot amount compensation 0 % ✔ ✔ ✔ ✔ ✔ — —
PB13 NH1 Machine resonance suppression filter 1 4500 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB14 NHQ1 Notch shape selection 1 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB15 NH2 Machine resonance suppression filter 2 0000H Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB17 NHF Shaft resonance suppression filter 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB18 LPF Low-pass filter setting 3141 rad/s ✔ ✔ ✔ ✔ ✔ ✔ —
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 Hz ✔ ✔ ✔ ✔ ✔ — —
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 Hz ✔ ✔ ✔ ✔ ✔ — —
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00 — ✔ ✔ ✔ ✔ ✔ — —
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00 — ✔ ✔ ✔ ✔ ✔ — —
PB23 VFBF Low-pass filter selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB24 *MVS Slight vibration suppression control 0000H — ✔ ✔ ✔ ✔ ✔ — —
PB25 *BOP1 Function selection B-1 0000H — ✔ ✔ ✔ ✔ ✔ — —
PB26 *CDP Gain switching function 0000H — ✔ ✔ ✔ ✔ ✔ ✔ —
kpulse/s
PB27 CDL Gain switching condition 10 pulse ✔ ✔ ✔ ✔ ✔ ✔ —
1/min
PB28 CDT Gain switching time constant 1 ms ✔ ✔ ✔ ✔ ✔ ✔ —
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching 7.00 Multiplier ✔ ✔ ✔ ✔ ✔ ✔ —
PB30 PG2B Position loop gain after gain switching 0.0 rad/s ✔ ✔ ✔ ✔ ✔ — —
PB31 VG2B Speed loop gain after gain switching 0 rad/s ✔ ✔ ✔ ✔ ✔ ✔ —
PB32 VICB Speed integral compensation after gain switching 0.0 ms ✔ ✔ ✔ ✔ ✔ ✔ —
Vibration suppression control 1 - Vibration frequency after gain switch-
PB33 VRF1B 0.0 Hz ✔ ✔ ✔ ✔ ✔ — —
ing
Vibration suppression control 1 - Resonance frequency after gain
PB34 VRF2B 0.0 Hz ✔ ✔ ✔ ✔ ✔ — —
switching
Vibration suppression control 1 - Vibration frequency damping after
PB35 VRF3B 0.00 — ✔ ✔ ✔ ✔ ✔ — —
gain switching
Vibration suppression control 1 - Resonance frequency damping after
PB36 VRF4B 0.00 — ✔ ✔ ✔ ✔ ✔ — —
gain switching
Tab. A-3: List of gain/filter setting parameters for MR-J4-A (1)
A-4
Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PB37 — 1600 — — — — — — — —
PB38 — 0.00 — — — — — — — —
PB39 — 0.00 — — — — — — — —
PB40 — 0.00 — — — — — — — —
PB41 — 0000H — — — — — — — —
PB42 — 0000H — — — — — — — —
PB43 — 0000H — — — — — — — —
PB44 — 0.00 — — — — — — — —
PB45 CNHF Command notch filter 0000H — ✔ ✔ ✔ ✔ ✔ — —
PB49 NHQ4 Notch shape selection 4 0000h — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 0000H Hz ✔ ✔ ✔ ✔ ✔ — —
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 Hz ✔ ✔ ✔ ✔ ✔ — —
PB54 VRF23 Vibration suppression control 2 - Vibration frequencydamping 0.00 — ✔ ✔ ✔ ✔ ✔ — —
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00 — ✔ ✔ ✔ ✔ ✔ — —
Vibration suppression control 2 - Vibration frequency after gain switch-
PB56 VRF21B 0.0 Hz ✔ ✔ ✔ ✔ ✔ — —
ing
PB57 VRF22B 0.0 Hz ✔ ✔ ✔ ✔ ✔ — —
switching
PB58 VRF23B 0.00 — ✔ ✔ ✔ ✔ ✔ — —
gain switching
PB59 VRF24B 0.00 — ✔ ✔ ✔ ✔ ✔ — —
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 rad/s ✔ ✔ ✔ ✔ ✔ ✔ —
PB61 — 0.0 — — — — — — — —
PB62 — 0000H — — — — — — — —
PB63 — 0000H — — — — — — — —
PB64 — 0000H — — — — — — — —
Tab. A-3: List of gain/filter setting parameters for MR-J4-A (2)

A.1.4 Extension setting parameters (PC)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PC01 STA Acceleration time constant 0 ms ✔ — ✔ ✔ — ✔ ✔
PC02 STB Deceleration time constant 0 ms ✔ — ✔ ✔ — ✔ ✔
PC03 STC S-pattern acceleration/deceleration time constant 0 ms ✔ — ✔ ✔ — ✔ ✔
PC04 TQC Torque command time constant/thrust command time constant 0 ms ✔ — ✔ ✔ — — ✔
Internal speed command 1 r/min ✔ — ✔ ✔ — ✔ —
PC05 SC1 100
Internal speed limit 1 mm/s ✔ — ✔ ✔ — — ✔
PC06 SC2 500
PC07 SC3 1000
PC08 SC4 200
PC09 SC5 300
PC10 SC6 500
PC11 SC7 800
Analog speed command - Maximum speed r/min ✔ — ✔ ✔ — ✔ —
PC12 VCM 0
Analog speed limit - Maximum speed mm/s ✔ — ✔ ✔ — — ✔
PC13 TLC Analog torque/thrust command maximum output 100.0 % ✔ — ✔ ✔ — — ✔
PC14 MOD1 Analog monitor 1 output 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC16 MBR Electromagnetic brake sequence output 0 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
r/min
PC17 ZSP Zero speed 50 ✔ ✔ ✔ ✔ ✔ ✔ ✔
mm/s
PC18 *BPS Alarm history clear 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC19 *ENRS Encoder output pulse selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC20 *SNO Station No. setting 0 station ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC21 *SOP RS-422 communication function selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC22 *COP1 Function selection C-1 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC23 *COP2 Function selection C-2 0000H — ✔ — ✔ ✔ — ✔ ✔
PC24 *COP3 Function selection C-3 0000H — ✔ ✔ ✔ ✔ ✔ — —
PC25 — For manufacturer setting 0000H — — — — — — — —
PC26 — Function selection C-5 0000H — ✔ ✔ ✔ ✔ ✔ ✔ —
PC28 — 0000H — — — — — — — —
PC29 — 0000H — — — — — — — —
PC30 STA2 Acceleration time constant 2 0 ms ✔ — ✔ ✔ — ✔ ✔
PC31 STB2 Deceleration time constant 2 0 ms ✔ — ✔ ✔ — ✔ ✔
PC32 CMX2 Command input pulse multiplication numerator 2 1 — ✔ ✔ ✔ ✔ ✔ — —
Tab. A-4: List of extension setting parameters for MR-J4-A (1)
A-6
Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PC35 TL2 Internal torque limit 2/internal thrust limit 2 100.0 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC36 *DMD Status display selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Analog speed command offset ✔ — ✔ ✔ — ✔ —
PC37 VCO 0 mV
Analog speed limit offset ✔ — ✔ ✔ — — ✔
Analog torque command offset ✔ — ✔ ✔ — — ✔
PC38 TPO 0 mV
Analog torque limit offset ✔ — ✔ ✔ — ✔ —
PC39 MO1 Analog monitor 1 offset 0 mV ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC41 — 0 — — — — — — — —
PC42 — 0 — — — — — — — —
rev
PC43 ERZ Error excessive alarm detection level 0 ✔ ✔ ✔ ✔ ✔ — —
mm
PC44 *COP9 Function selection C-9 0000H — — ✔ — — ✔ — —
PC45 *COPA Function selection C-A 0000H — — ✔ ✔ — ✔ ✔ ✔
PC46 — 0 — — — — — — — —
PC47 — 0 — — — — — — — —
PC48 — For manufacturer setting 0 — — — — — — — —
PC49 — 0 — — — — — — — —
PC50 — 0000H — — — — — — — —
PC51 RSBR Forced stop deceleration time constant 100 ms ✔ ✔ ✔ ✔ ✔ ✔ —
PC52 — 0 — — — — — — — —
PC53 — 0 — — — — — — — —
0 0.0001rev
PC54 RSUP1 Vertical axis freefall prevention compensation amount ✔ ✔ ✔ ✔ ✔ — —
0.01mm
PC55 — 0 — — — — — — — —
PC56 — 100 — — — — — — — —
PC58 — 0 — — — — — — — —
PC59 — 0000H — — — — — — — —
PC60 *COPD Function selection C-D 0000H — ✔ — — — ✔ ✔ ✔
PC61 — 0000H — — — — — — — —
PC62 — 0000H — — — — — — — —
PC63 — 0000H — — — — — — — —
PC64 — 0000H — — — — — — — —
PC65 — 0000H — — — — — — — —
PC66 — 0000H — — — — — — — —
PC67 — 0000H — — — — — — — —
PC68 — 0000H — — — — — — — —
PC69 — 0000H — — — — — — — —
PC70 — 0000H — — — — — — — —
PC71 — 0000H — — — — — — — —
PC72 — 0000H — — — — — — — —
PC73 — 0000H — — — — — — — —
PC74 — 0000H — — — — — — — —

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PC75 — 0000H — — — — — — — —
PC76 — 0000H — — — — — — — —
PC77 — 0000H — — — — — — — —
PC78 — 0000H — — — — — — — —
PC79 — 0000H — — — — — — — —
PC80 — 0000H — — — — — — — —
A-8
A.1.5 I/O setting parameters (PD)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PD01 *DIA1 Input signal automatic on selection 1 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD02 — For manufacturer setting 0000H — — — — — — — —
PD03 *DI1L Input device selection 1L 0202H — ✔ ✔ ✔ ✔ ✔ ✔ —
PD04 *DI1H Input device selection 1H 0002H — ✔ — ✔ ✔ — — ✔
PD15 — 0000H — — — — — — — —
PD16 — 0000H — — — — — — — —
PD17 *DI8L Input device selection 8L 0A0AH — ✔ ✔ ✔ ✔ ✔ ✔ —
PD19 *DI9L Input device selection 9L 0B0BH — ✔ ✔ ✔ ✔ ✔ ✔ —
PD23 *DO1 Output device selection 1 0004H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD24 *DO2 Output device selection 2 000CH — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD29 *DIF Input filter setting 0004H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD30 *DOP1 Function selection D-1 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD32 *DOP3 Function selection D-3 0000H — ✔ ✔ ✔ ✔ ✔ — —
PD34 DOP5 Function selection D-5 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD35 — 0000H — — — — — — — —
PD36 — 0000H — — — — — — — —
PD37 — 0000H — — — — — — — —
PD38 — 0 — — — — — — — —
PD39 — 0 — — — — — — — —
PD40 — 0 — — — — — — — —
PD41 — 0000H — — — — — — — —
PD42 — 0000H — — — — — — — —
Tab. A-5: List of I/O setting parameters for MR-J4-A (1)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PD43 — 0000H — — — — — — — —
PD44 — 0000H — — — — — — — —
PD45 — 0000H — — — — — — — —
PD46 — 0000H — — — — — — — —
PD47 — 0000H — — — — — — — —
PD48 — 0000H — — — — — — — —
Tab. A-5: List of I/O setting parameters for MR-J4-A (2)
A - 10
A.1.6 Extension setting 2 parameters (PE)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PE01 *FCT1 Fully closed loop function selection 1 0000H — — ✔ — — ✔ — —
PE02 — For manufacturer setting 0000H — — — — — — — —
PE03 *FCT2 Fully closed loop function selection 2 0003H — — ✔ — — ✔ — —
PE04 *FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1 — — ✔ — — ✔ — —
Fully closed loop control - Feedback pulse electronic gear 1 -
PE05 *FBD 1 — — ✔ — — ✔ — —
Denominator
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 1/min — ✔ — — ✔ — —
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 kpulse — ✔ — — ✔ — —
PE08 DUF Fully closed loop dual feedback filter 10 rad/s — ✔ — — ✔ — —
PE10 FCT3 Fully closed loop function selection 3 0000H — — ✔ — — ✔ — —
PE11 — 0000H — — — — — — — —
PE12 — 0000H — — — — — — — —
PE13 — 0000H — — — — — — — —
PE14 — 0111H — — — — — — — —
PE15 — 20 — — — — — — — —
PE16 — 0000H — — — — — — — —
PE17 — 0000H — — — — — — — —
PE18 — 0000H — — — — — — — —
PE19 — 0000H — — — — — — — —
PE20 — 0000H — — — — — — — —
PE21 — 0000H — — — — — — — —
PE23 — 0000H — — — — — — — —
PE24 — 0000H — — — — — — — —
PE25 — 0000H — — — — — — — —
PE26 — 0000H — — — — — — — —
PE27 — 0000H — — — — — — — —
PE28 — 0000H — — — — — — — —
PE29 — 0000H — — — — — — — —
PE30 — 0000H — — — — — — — —
PE31 — 0000H — — — — — — — —
PE32 — 0000H — — — — — — — —
PE33 — 0000H — — — — — — — —
PE34 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator 1 — — ✔ — — ✔ — —
PE35 *FBD2 1 — — ✔ — — ✔ — —
Denominator
PE36 — 0.0 — — — — — — — —
PE37 — 0.00 — — — — — — — —
PE38 — For manufacturer setting 0.00 — — — — — — — —
PE39 — 20 — — — — — — — —
PE40 — 0000H — — — — — — — —
PE41 EOP3 Function selection E-3 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Tab. A-6: List of extension setting 2 parameters for MR-J4-A (1)
Beginners Manual Servo Amplifiers MELSERVO J4 A - 11

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PE42 — 0 — — — — — — — —
PE43 — 0.0 — — — — — — — —
PE44 — 0000H — — — — — — — —
PE45 — 0000H — — — — — — — —
PE46 — 0000H — — — — — — — —
PE47 — 0000H — — — — — — — —
PE48 — 0000H — — — — — — — —
PE49 — 0000H — — — — — — — —
PE50 — 0000H — — — — — — — —
PE51 — 0000H — — — — — — — —
PE52 — 0000H — — — — — — — —
PE54 — 0000H — — — — — — — —
PE55 — 0000H — — — — — — — —
PE56 — 0000H — — — — — — — —
PE57 — 0000H — — — — — — — —
PE58 — 0000H — — — — — — — —
PE59 — 0000H — — — — — — — —
PE60 — 0000H — — — — — — — —
PE61 — 0.00 — — — — — — — —
PE62 — 0.00 — — — — — — — —
PE63 — 0.00 — — — — — — — —
PE64 — 0.00 — — — — — — — —
A - 12
A.1.7 Extension setting 3 parameters (PF)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PF01 — 0000H — — — — — — — —
PF02 — 0000H — — — — — — — —
PF03 — 0000H — — — — — — — —
PF04 — 0 — — — — — — — —
PF05 — 0 — — — — — — — —
PF06 — 0000H — — — — — — — —
PF07 — 1 — — — — — — — —
PF08 — 1 — — — — — — — —
PF09 *FOP5 Function selection F-5 0000H — ✔ ✔ — — ✔ ✔ ✔
PF10 — 0000H — — — — — — — —
PF11 — 0000H — — — — — — — —
PF12 — For manufacturer setting 10000 — — — — — — — —
PF13 — 100 — — — — — — — —
PF14 — 100 — — — — — — — —
PF15 DBT Electronic dynamic brake operating time 2000 ms ✔ ✔ — — ✔ ✔ ✔
PF16 — 0000H — — — — — — — —
PF17 — 10 — — — — — — — —
PF18 — For manufacturer setting 0000H — — — — — — — —
PF19 — 0000H — — — — — — — —
PF20 — 0000H — — — — — — — —
PF21 DRT Drive recorder switching time setting 0 s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 % ✔ ✔ ✔ ✔ ✔ ✔ —
PF24 *OSCL2 Vibration tough drive function selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ —
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
PF26 — 0 — — — — — — — —
PF27 — 0 — — — — — — — —
PF29 — 0000H — — — — — — — —
PF30 — 0 — — — — — — — —
1/min
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 ✔ ✔ ✔ ✔ ✔ ✔ ✔
mm/s
PF32 — 50 — — — — — — — —
PF33 — 0000H — — — — — — — —
PF34 — 0000H — — — — — — — —
PF35 — 0000H — — — — — — — —
PF36 — 0000H — — — — — — — —
PF38 — 0000H — — — — — — — —
PF39 — 0000H — — — — — — — —
PF40 — 0000H — — — — — — — —
PF41 — 0000H — — — — — — — —
PF42 — 0000H — — — — — — — —

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PF43 — 0000H — — — — — — — —
PF44 — 0000H — — — — — — — —
PF45 — 0000H — — — — — — — —
PF46 — 0000H — — — — — — — —
PF47 — 0000H — — — — — — — —
PF48 — 0000H — — — — — — — —
A - 14
A.1.8 Linear servo motor/DD motor setting parameters (PL)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PL01 *LIT1 Linear servo motor/DD motor function selection 1 0301H — — — ✔ ✔ ✔ ✔ ✔
PL02 *LIM Linear encoder resolution - Numerator 1000 μm — — ✔ — ✔ ✔ ✔
PL03 *LID Linear encoder resolution - Denominator 1000 μm — — ✔ — ✔ ✔ ✔
mm
PL05 LB1 Position deviation error detection level 0 — — ✔ ✔ ✔ — —
0.01 rev
1/min
PL06 LB2 Speed deviation error detection level 0 — — ✔ ✔ ✔ ✔ —
mm/s
PL07 LB3 Torque/thrust deviation error detection level 100 % — — ✔ ✔ ✔ ✔ ✔
PL09 LPWM Magnetic pole detection voltage level 30 % — — ✔ ✔ ✔ ✔ ✔
PL10 — 5 — — — — — — — —
PL11 — 100 — — — — — — — —
PL12 — 500 — — — — — — — —
PL13 — For manufacturer setting 0000H — — — — — — — —
PL14 — 0000H — — — — — — — —
PL15 — 20 — — — — — — — —
PL16 — 0 — — — — — — — —
Magnetic pole detection - Minute position detection method -
PL17 LTSTS 0000H — — — ✔ ✔ ✔ ✔ ✔
Function selection
PL18 IDLV 0 % — — ✔ ✔ ✔ ✔ ✔
Identification signal amplitude
PL19 — 0 — — — — — — — —
PL20 — 0 — — — — — — — —
PL21 — 0 — — — — — — — —
PL22 — 0 — — — — — — — —
PL23 — 0000H — — — — — — — —
PL24 — 0 — — — — — — — —
PL25 — 0000H — — — — — — — —
PL26 — 0000H — — — — — — — —
PL27 — 0000H — — — — — — — —
PL28 — 0000H — — — — — — — —
PL29 — 0000H — — — — — — — —
PL30 — 0000H — — — — — — — —
PL31 — 0000H — — — — — — — —
PL32 — 0000H — — — — — — — —
PL33 — 0000H — — — — — — — —
PL34 — 0000H — — — — — — — —
PL35 — 0000H — — — — — — — —
PL36 — 0000H — — — — — — — —
PL37 — 0000H — — — — — — — —
PL38 — 0000H — — — — — — — —
PL39 — 0000H — — — — — — — —
PL40 — 0000H — — — — — — — —
Tab. A-8: List of linear servo motor/DD motor setting parameters for MR-J4-A (1)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
P
T
S
PL41 — 0000H — — — — — — — —
PL42 — 0000H — — — — — — — —
PL43 — 0000H — — — — — — — —
PL44 — 0000H — — — — — — — —
PL45 — 0000H — — — — — — — —
PL46 — 0000H — — — — — — — —
PL47 — 0000H — — — — — — — —
PL48 — 0000H — — — — — — — —
Tab. A-8: List of linear servo motor/DD motor setting parameters for MR-J4-A (2)


– P: Position control mode
– S: Speed control mode
– T: Torque control mode
A - 16
Additional information about the series MR-J4-A-RJ Appendix
A.2 Additional information about the series MR-J4-A-RJ

A.2.1 Status Display
Control Operation
mode mode
Standard
Full.
Lin.
DD
CP
PS
CL
Feedback pulses from the servo motor encoder are
counted and displayed.
The values in excess of ±99999 can be counted. How-
ever, the counter shows only the lower five digits of the
Cumulative feedback pulses C pulse actual value since the servo amplifier display is five dig- ✔ ✔ ✔ ✔ ✔ ✔ ✔
its.
The value of minus is indicated by the lit decimal points
in the upper four digits.
The servo motor speed or Linear servo motor speed is
Servo motor speed/ 1/min
r displayed. ✔ ✔ ✔ ✔ ✔ ✔ ✔
Linear servo motor speed mm/s
It is displayed rounding off 0.1 1/min (0.1 mm/s) unit.
The number of droop pulses in the deviation counter
are displayed.
The decimal points in the upper four digits are lit for
reverse rotation pulses.
Droop pulses E pulse The values in excess of ±99999 can be counted. How- ✔ ✔ ✔ ✔ ✔ ✔ ✔
actual value since the servo amplifier display is five dig-
its.
The number of pulses displayed is in the encoder pulse
unit.
Not used with the positioning mode. “0” is always dis-
Cumulative command pulses P pulse — — — — — — —
played.
Not used with the positioning mode. “0” is always dis-
Command pulse frequency n kpulse/s — — — — — — —
played.
Not used with the positioning mode. An applied volt-
voltage F V — — — — — — —
age to the CN1 connector is displayed.
Analog speed limit voltage
Analog torque command Not used with the positioning mode. An applied volt-
— — — — — — —
voltage age to the CN1 connector is displayed.
U V
Voltage of TC (Analog torque command) voltage is dis-
Analog torque limit voltage ✔ ✔ ✔ ✔ ✔ ✔ ✔
played.
The ratio of regenerative power to permissible regener-
Regenerative load ratio L % ✔ ✔ ✔ ✔ ✔ ✔ ✔
ative power is displayed in %.
The continuous effective load current is displayed.
Effective load ratio J % The effective value in the past 15 s is displayed relative ✔ ✔ ✔ ✔ ✔ ✔ ✔
to the rated current of 100 %.
The maximum occurrence torque is displayed.
Peak load ratio b % The highest value in the past 15 s is displayed relative to ✔ ✔ ✔ ✔ ✔ ✔ ✔
the rated current of 100 %.
The instantaneous occurrence torque is displayed.
Instantaneous torque T % The value of torque being occurred is displayed in real ✔ ✔ ✔ ✔ ✔ ✔ ✔
time considering a rated torque as 100 %.
Position within one revolution is displayed in encoder
pulses.
Position within one-revolution ever, the counter shows only the lower five digits of the
Cy1 pulse ✔ ✔ ✔ ✔ ✔ ✔ ✔
(1 pulse unit) actual value since the servo amplifier display is five dig-
its.
When the servo motor rotates in the CCW direction, the
value is added.
Tab. A-9: Status display list of MR-J4-A-RJ (1)

Appendix Additional information about the series MR-J4-A-RJ
Control Operation
mode mode
Standard
Full.
Lin.
DD
CP
PS
CL
The within one-revolution position is displayed in 1000
Position within one-revolution 1000 pulse increments of the encoder.
Cy2 ✔ ✔ ✔ ✔ ✔ ✔ ✔
(1000 pulse unit) pulses When the servo motor rotates in the CCW direction, the
value is added.
The travel distance from the home position is displayed
as multi-revolution counter value of the absolution
✔ ✔ — ✔ ✔ ✔ ✔
position encoder in the absolution position detection
ABS counter LS rev system.
The travel distance from the home position is displayed
as load side multi-revolution counter value in the abso- — — ✔ ✔ ✔ ✔ ✔
lution position detection system
The estimated ratio of the load inertia moment to the
Load to motor inertia ratio dC Multiplier ✔ ✔ ✔ ✔ ✔ ✔ ✔
servo motor shaft inertia moment is displayed.
The voltage of main circuit converter (between P+ and
Bus voltage Pn V ✔ ✔ ✔ ✔ ✔ ✔ ✔
N–) is displayed.
Inside temperature of encoder detected by the encoder
Encoder inside temperature ETh °C ✔ ✔ ✔ ✔ ✔ — ✔
is displayed.
Settling time is displayed. When it exceeds 1000 ms,
Settling time ST ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
“1000” will be displayed.
Frequency at the time of oscillation detection is dis-
Oscillation detection frequency oF Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
played.
Number of tough drive The number of tough drive functions activated is dis-
Td times ✔ ✔ ✔ ✔ ✔ ✔ ✔
operations played.
Unit power consumption is displayed by increment of 1
W. Positive value indicate power running, and negative
Unit power consumption 1 value indicate regeneration. The values in excess of
PC1 W ✔ ✔ ✔ ✔ ✔ ✔ ✔
(increment of 1 W) ±99999 can be counted. However, the counter shows
only the lower five digits of the actual value since the
servo amplifier display is five digits.
Unit power consumption is displayed by increment of 1
PC2 kW kW. Positive value indicate power running, and nega- ✔ ✔ ✔ ✔ ✔ ✔ ✔
(increment of 1 kW)
tive value indicate regeneration.
Unit total power consumption is displayed by incre-
ment of 1 Wh. Positive value is cumulated during power
running and negative value during regeneration. The
Unit total power consumption 1
TPC1 Wh values in excess of ±99999 can be counted. However, ✔ ✔ ✔ ✔ ✔ ✔ ✔
(increment of 1 Wh)
the counter shows only the lower five digits of the
its.
Unit total power consumption is displayed by incre-
Unit total power consumption 2 ment of 100 kWh. Positive value is cumulated during
TPC2 100 Wh ✔ ✔ ✔ ✔ ✔ ✔ ✔
(increment of 100 kWh) power running and negative value during regenera-
tion.
Feedback pulses from the load-side encoder are
counted and displayed.
Load-side encoder Cumulative actual value since the servo amplifier display is five dig- ✔ ✔ — — ✔ — —
FC pulse
feedback pulses its.
The value of minus is indicated by the lit decimal points
in the upper four digits.
Droop pulses of the deviation counter between a load-
side encoder and a command are displayed. When the
count exceeds ±99999, it starts from 0.
Load-side encoder Droop pulses FE pulse Negative value is indicated by the lit decimal points in ✔ ✔ — — ✔ — —
the upper four digits.
The display shows the average droop pulses of 128
samplings at the rate of 444 [μs].
A - 18
Control Operation
mode mode
Standard
Full.
Lin.
DD
CP
PS
CL
The Z-phase counter of a load-side encoder is displayed
in the encoder pulse unit.
For an incremental linear encoder, the Z-phase counter
Load-side encoder
is displayed. The value is counted up from 0 based on
information 1 FCY1 pulse ✔ ✔ — — ✔ — —
the home position (reference mark). For an absolute
(1 pulse unit)
position linear encoder, the encoder absolute position
is displayed.
The Z-phase counter of a load-side encoder is displayed
by increments of 100 pulses.
Load-side encoder
100000 is displayed. The value is counted up from 0 based on
information 1 FCY2
pulses ✔ ✔ — — ✔ — —
(100000 pulses unit)
is displayed.
When an incremental linear encoder is used as the
load-side encoder, the display shows 0.
When an absolute position linear encoder is used as the
Load-side encoder
FL5 rev load-side encoder, the display shows 0. ✔ ✔ — — ✔ — —
information 2
When a rotary encoder is used as the load-side encoder,
the display shows the value of the multi-revolution
counter.
The Z-phase counter is displayed in the encoder pulse
unit.
is displayed. The value is counted up from 0 based on
Z-phase counter low FCY1 pulse ✔ ✔ ✔ — — ✔ —
is displayed.
The Z-phase counter is displayed by increments of
100000 pulses.
100000 is displayed. The value is counted up from 0 based on
Z-phase counter high FCY2 ✔ ✔ ✔ — — ✔ —
pulses the home position (reference mark). For an absolute
is displayed.
Electrical angle low ECY1 pulse The servo motor electrical angle is displayed. ✔ ✔ — — — ✔ —
100000 The servo motor electrical angle is displayed by incre-
Electrical angle high ECY2 ✔ ✔ — — — ✔ —
pulses ments of 100000 pulses.
When “0” (positioning display) is set in parameter
PT26, the current position is displayed as machine
home position is 0.
10STMμm When “1” (roll feed display) is set in parameter
10(STM-4) inch PT26, the actual current position is displayed as start
Current position PoS ✔ ✔ — ✔ ✔ ✔ ✔
10-3 degree position is 0.
pulse
its.

Control Operation
mode mode
Standard
Full.
Lin.
DD
CP
PS
CL
When “0” (positioning display) is set in parameter
PT26, the command current position is displayed as
machine home position is 0.
When “1” (roll feed display) is set in parameter
PT26, turning on the start signal starts counting from 0
10STMμm and a command current position to the target position
10(STM-4) inch is displayed in the automatic mode.
Command position CPoS ✔ ✔ — ✔ ✔ ✔ ✔
10-3 degree The command positions of the selected point table are
displayed at a stop. At the manual mode, the command
pulse
positions of the selected point table are displayed.
its.
Indicates the remaining distance to the command posi-
10STMμm tion of the currently selected point table, program and
(STM-4) station.
10 inch
Command remaining distance rn ✔ ✔ ✔ ✔ ✔ ✔ ✔
10-3 degree The values in excess of ±99999 can be counted. How-
pulse actual value since the servo amplifier display is five dig-
its.
For the point table method and program method, the
point table and program No. currently being executed
Point table No./program No./ are displayed. The selected number is displayed during
Pno — ✔ ✔ ✔ ✔ ✔ ✔ ✔
command station position a temporary stop or manual operation. For the indexer
method, the command next station position is dis-
played.
The step No. of the program currently being executed is
Step No. Sno — — ✔ — ✔ ✔ ✔ ✔
displayed. At a stop, 0 is displayed.
Analog override voltage oru V The analog override voltage is displayed. ✔ ✔ — ✔ ✔ ✔ ✔
The setting value of the override is displayed.
Override level or % ✔ ✔ ✔ ✔ ✔ ✔ ✔
When the override is disabled, 100% is displayed.

CP: Positioning mode (point table method)
CL: Positioning mode (program method)
PS: Positioning mode (indexer method)

Standard: Standard (semi closed loop system) use of the rotary servo motor
Full.: Fully closed loop system use of the rotary servo motor
Lin.: Linear servo motor use
DD: Direct drive (DD) motor use

The unit can be changed to μm/Inch/Degree/PLS in parameter PT01.
parameter PC36 settings.
A - 20

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PA03 *ABS Absolute position detection system 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA05 *FBP Number of command input pulses per revolution 10000 — — — — — — — —
Electronic gear numerator (command pulse multiplication numerator) 1 — ✔ ✔ ✔ ✔ ✔ ✔ —
PA06 *CMX
Number of gear teeth on machine side 1 — ✔ — — ✔ — — ✔
1 — ✔ ✔ ✔ ✔ ✔ ✔ —
PA07 *CDV (command pulse multiplication denominator)
Number of gear teeth on servo motor side 1 — ✔ — — ✔ — — ✔
PA08 ATU Auto tuning mode 0001H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA09 RSP Auto tuning response 16 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
μm
10-4 inch
PA10 INP In-position range 100 ✔ ✔ ✔ ✔ ✔ ✔ ✔
10-3 degree
pulse
PA13 *PLSS Command pulse input form 0100H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA14 *POL Rotation direction selection/travel direction selection 0 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA24 AOP4 Function selection A-4 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA25 OTHOV One-touch tuning - Overshoot permissible level 0 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PA27 — 0000H — — — — — — — —
PA28 — 0000H — — — — — — — —
PA29 — 0000H — — — — — — — —
PA30 — 0000H — — — — — — — —
PA31 — 0000H — — — — — — — —
PA32 — 0000H — — — — — — — —
Tab. A-10: List of basic setting parameters for MR-J4-A-RJ

NOTES To enable the following parameters in a positioning mode, cycle the power after setting.
– PA06 (Electronic gear numerator (command pulse multiplication numerator)/Number of gear
teeth on machine side)
– PA07 (Electronic gear denominator (command pulse multiplication denominator)/Number of
gear teeth on servo motor side)
The following parameter cannot be used in the positioning mode.

– PA05 (Number of command input pulses per revolution)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Vibration suppression control tuning mode
PB02 VRFT 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
(advanced vibration suppression control II)
Position command acceleration/deceleration time constant
PB03 PST 0 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
(position smoothing)
PB04 FFC Feed forward gain 0 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB05 — For manufacturer setting 500 — — — — — — — —
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 Multiplier ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB07 PG1 Model loop gain 15.0 rad/s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB08 PG2 Position loop gain 37.0 rad/s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB09 VG2 Speed loop gain 823 rad/s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB10 VIC Speed integral compensation 33.7 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB11 VDC Speed differential compensation 980 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB12 OVA Overshoot amount compensation 0 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB17 NHF Shaft resonance suppression filter 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB18 LPF Low-pass filter setting 3141 rad/s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB23 VFBF Low-pass filter selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB24 *MVS Slight vibration suppression control 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB25 *BOP1 Function selection B-1 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB26 *CDP Gain switching function 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
kpulse/s
PB27 CDL Gain switching condition 10 pulse ✔ ✔ ✔ ✔ ✔ ✔ ✔
1/min
PB28 CDT Gain switching time constant 1 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
Tab. A-11: List of gain/filter setting parameters for MR-J4-A-RJ (1)
A - 22
Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching 7.00 Multiplier ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB30 PG2B Position loop gain after gain switching 0.0 rad/s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB31 VG2B Speed loop gain after gain switching 0 rad/s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB32 VICB Speed integral compensation after gain switching 0.0 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
Vibration suppression control 1 -
PB33 VRF1B 0.0 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
Vibration frequency after gain switching
PB34 VRF2B 0.0 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
Resonance frequency after gain switching
PB35 VRF3B 0.00 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Vibration frequency damping after gain switching
PB36 VRF4B 0.00 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Resonance frequency damping after gain switching
PB37 — 1600 — — — — — — — —
PB38 — 0.00 — — — — — — — —
PB39 — 0.00 — — — — — — — —
PB40 — 0.00 — — — — — — — —
PB41 — 0000H — — — — — — — —
PB42 — 0000H — — — — — — — —
PB43 — 0000H — — — — — — — —
PB44 — 0.00 — — — — — — — —
PB45 CNHF Command notch filter 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Vibration suppression control 2 - Vibration frequency after gain
PB56 VRF21B 0.0 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
switching
PB57 VRF22B 0.0 Hz ✔ ✔ ✔ ✔ ✔ ✔ ✔
switching
PB58 VRF23B 0.00 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
gain switching
PB59 VRF24B 0.00 — ✔ ✔ ✔ ✔ ✔ ✔ ✔
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 rad/s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PB61 — 0.0 — — — — — — — —
PB62 — 0000H — — — — — — — —
PB63 — 0000H — — — — — — — —
PB64 — 0000H — — — — — — — —
Tab. A-11: List of gain/filter setting parameters for MR-J4-A-RJ (2)


Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
JOG operation acceleration time constant ✔ ✔ ✔ ✔ — ✔ —
PC01 STA 0 ms
Acceleration time constant 1 ✔ — — ✔ — — ✔
JOG operation deceleration time constant ✔ ✔ ✔ ✔ — ✔ —
PC02 STB 0 ms
Deceleration time constant 1 ✔ — — ✔ — — ✔
PC03 *STC S-pattern acceleration/deceleration time constant 0 ms ✔ — ✔ ✔ ✔ ✔ —
PC04 TQC Torque command time constant/thrust command time constant 0 — — — — — — — —
PC05 SC1 Automatic operation speed 1 100 1/min ✔ — — ✔ — — ✔
PC06 SC2 Automatic operation speed 2 500 1/min ✔ — — ✔ — — ✔
PC07 SC3 Manual operation speed 1 1000 1/min ✔ — — ✔ — — ✔
Internal speed command 4 1/min — — — — — — —
PC08 SC4 200
Internal speed limit 4 mm/s — — — — — — —
PC09 SC5 300
PC10 SC6 500
PC11 SC7 800
Analog speed command - Maximum speed 1/min — — — — — — —
PC12 VCM 0
Analog speed limit - Maximum speed mm/s — — — — — — —
PC13 TLC Analog torque/thrust command maximum output 100.0 % — — — — — — —
PC16 MBR Electromagnetic brake sequence output 0 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
1/min
PC17 ZSP Zero speed 50 ✔ ✔ ✔ ✔ ✔ ✔ ✔
mm/s
PC18 *BPS Alarm history clear 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC19 *ENRS Encoder output pulse selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC20 *SNO Station No. setting 0 station ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC21 *SOP RS-422 communication function selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC23 *COP2 Function selection C-2 0000H — — — — — — — —
PC28 — 0000H — — — — — — — —
PC29 — 0000H — — — — — — — —
Home position return acceleration time constant ✔ — ✔ ✔ — ✔ —
PC30 STA2 0 ms
Acceleration time constant 2 ✔ — — ✔ — — ✔
Home position return deceleration time constant ✔ — ✔ ✔ — ✔ —
PC31 STB2 0 ms
Deceleration time constant 2 ✔ — — ✔ — — ✔
PC32 CMX2 Command input pulse multiplication numerator 2 1 — — — — — — — —
Tab. A-12: List of extension setting parameters for MR-J4-A-RJ (1)
A - 24
Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PC35 TL2 Internal torque limit 2/internal thrust limit 2 100.0 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC36 *DMD Status display selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC37 VCO Analog override offset 0 mV ✔ ✔ ✔ ✔ ✔ ✔ —
PC38 TPO Analog torque limit offset 0 mV ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC41 — 0 — — — — — — — —
PC42 — 0 — — — — — — — —
rev
PC43 ERZ Error excessive alarm detection level 0 ✔ ✔ ✔ ✔ ✔ ✔ ✔
mm
PC44 *COP9 Function selection C-9 0000H — — ✔ — — ✔ ✔ —
PC45 *COPA Function selection C-A 0000H — — ✔ ✔ — ✔ ✔ —
PC46 — 0 — — — — — — — —
PC47 — 0 — — — — — — — —
PC48 — For manufacturer setting 0 — — — — — — — —
PC49 — 0 — — — — — — — —
PC50 — 0000H — — — — — — — —
PC51 RSBR Forced stop deceleration time constant 100 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
PC52 — 0 — — — — — — — —
PC53 — 0 — — — — — — — —
0.0001rev
PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 ✔ ✔ ✔ ✔ ✔ ✔ ✔
0.01mm
PC55 — 0 — — — — — — — —
PC56 — 100 — — — — — — — —
PC58 — 0 — — — — — — — —
PC59 — 0000H — — — — — — — —
PC60 *COPD Function selection C-D 0000H — ✔ — — — ✔ ✔ —
PC61 — 0000H — — — — — — — —
PC62 — 0000H — — — — — — — —
PC63 — 0000H — — — — — — — —
PC64 — 0000H — — — — — — — —
PC65 — 0000H — — — — — — — —
PC66 — 0000H — — — — — — — —
PC67 — 0000H — — — — — — — —
PC69 — 0000H — — — — — — — —
PC70 — 0000H — — — — — — — —
PC71 — 0000H — — — — — — — —
PC72 — 0000H — — — — — — — —
PC73 — 0000H — — — — — — — —
PC74 — 0000H — — — — — — — —
PC75 — 0000H — — — — — — — —

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PC76 — 0000H — — — — — — — —
PC77 — 0000H — — — — — — — —
PC79 — 0000H — — — — — — — —
PC80 — 0000H — — — — — — — —
NOTES To enable the following parameters in a positioning mode, cycle the power after setting.
– PC03 (S-pattern acceleration/deceleration time constant)
The following parameter cannot be used in the positioning mode.

– PC04 (Torque command time constant/thrust command time constant)
– PC08 (Internal speed command 4/internal speed limit 4)
– PC12 (Analog speed command - Maximum speed/Analog speed limit - Maximum speed)
– PC13 (Analog torque/thrust command maximum output)
– PC23 (Function selection C-2)
– PC32 (Command input pulse multiplication numerator 2)
A - 26

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PD03 *DI1L Input device selection 1L 0202H — — — — — — — —
PD04 *DI1H Input device selection 1H 0202H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD15 — 0000H — — — — — — — —
PD16 — 0000H — — — — — — — —
PD17 *DI8L Input device selection 8L 0A0AH — — — — — — — —
PD18 *DI8H Input device selection 8H 0A00H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD19 *DI9L Input device selection 9L 0B0BH — — — — — — — —
PD20 *DI9H Input device selection 9H 0B00H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD24 *DO2 Output device selection 2 000CH — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD29 *DIF Input filter setting 0004H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD31 *DOP2 Function selection D-2 0000H — ✔ ✔ ✔ ✔ ✔ ✔ —
PD34 DOP5 Function selection D-5 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PD35 — 0000H — — — — — — — —
PD36 — 0000H — — — — — — — —
PD37 — 0000H — — — — — — — —
PD38 — 0 — — — — — — — —
PD39 — 0 — — — — — — — —
PD40 — 0 — — — — — — — —
Tab. A-13: List of I/O setting parameters for MR-J4-A-RJ (1)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PD44 *DI11H Input device selection 11H 3A00H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Tab. A-13: List of I/O setting parameters for MR-J4-A-RJ (2)
NOTE The following parameter cannot be used in the positioning mode.

– PD03 (Input device selection 1L)
A - 28

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PE01 *FCT1 Fully closed loop function selection 1 0000H — — — — — — — —
PE03 *FCT2 Fully closed loop function selection 2 0003H — — ✔ — — ✔ ✔ —
PE04 *FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1 — — ✔ — — ✔ ✔ —
PE05 *FBD 1 — — ✔ — — ✔ ✔ —
Denominator
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 1/min — ✔ — — ✔ ✔ —
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 kpulse — ✔ — — ✔ ✔ —
PE08 DUF Fully closed loop dual feedback filter 10 rad/s — ✔ — — ✔ ✔ —
PE09 — For manufacturer setting 0000H — — ✔ — — ✔ ✔ —
PE10 FCT3 Fully closed loop function selection 3 0000H — — ✔ — — ✔ ✔ —
PE11 — 0000H — — — — — — — —
PE12 — 0000H — — — — — — — —
PE13 — 0000H — — — — — — — —
PE14 — 0111H — — — — — — — —
PE15 — 20 — — — — — — — —
PE16 — 0000H — — — — — — — —
PE17 — 0000H — — — — — — — —
PE18 — 0000H — — — — — — — —
PE19 — 0000H — — — — — — — —
PE20 — 0000H — — — — — — — —
PE21 — 0000H — — — — — — — —
PE23 — 0000H — — — — — — — —
PE24 — 0000H — — — — — — — —
PE25 — 0000H — — — — — — — —
PE26 — 0000H — — — — — — — —
PE27 — 0000H — — — — — — — —
PE28 — 0000H — — — — — — — —
PE29 — 0000H — — — — — — — —
PE30 — 0000H — — — — — — — —
PE31 — 0000H — — — — — — — —
PE32 — 0000H — — — — — — — —
PE33 — 0000H — — — — — — — —
PE34 *FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator 1 — — ✔ — — ✔ ✔ —
PE35 *FBD2 1 — — ✔ — — ✔ ✔ —
Denominator
PE36 — 0.0 — — — — — — — —
PE37 — 0.00 — — — — — — — —
PE38 — For manufacturer setting 0.00 — — — — — — — —
PE39 — 20 — — — — — — — —
PE40 — 0000H — — — — — — — —
PE41 EOP3 Function selection E-3 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
Tab. A-14: List of extension setting 2 parameters for MR-J4-A-RJ (1)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PE42 — 0 — — — — — — — —
PE43 — 0.0 — — — — — — — —
PE44 — 0000H — — — — — — — —
PE45 — 0000H — — — — — — — —
PE46 — 0000H — — — — — — — —
PE47 — 0000H — — — — — — — —
PE48 — 0000H — — — — — — — —
PE49 — 0000H — — — — — — — —
PE50 — 0000H — — — — — — — —
PE51 — 0000H — — — — — — — —
PE52 — 0000H — — — — — — — —
PE54 — 0000H — — — — — — — —
PE55 — 0000H — — — — — — — —
PE56 — 0000H — — — — — — — —
PE57 — 0000H — — — — — — — —
PE58 — 0000H — — — — — — — —
PE59 — 0000H — — — — — — — —
PE60 — 0000H — — — — — — — —
PE61 — 0.00 — — — — — — — —
PE62 — 0.00 — — — — — — — —
PE63 — 0.00 — — — — — — — —
PE64 — 0.00 — — — — — — — —
NOTE The following parameter cannot be used in the positioning mode.

– PE01 (Fully closed loop function selection 1)
A - 30

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PF01 — 0000H — — — — — — — —
PF02 — 0000H — — — — — — — —
PF03 — 0000H — — — — — — — —
PF04 — 0 — — — — — — — —
PF05 — 0 — — — — — — — —
PF06 — 0000H — — — — — — — —
PF07 — 1 — — — — — — — —
PF08 — 1 — — — — — — — —
PF09 *FOP5 Function selection F-5 0000H — ✔ ✔ — — ✔ ✔ ✔
PF10 — 0000H — — — — — — — —
PF11 — 0000H — — — — — — — —
PF13 — 100 — — — — — — — —
PF14 — 100 — — — — — — — —
PF15 DBT Electronic dynamic brake operating time 2000 ms ✔ ✔ — — ✔ ✔ ✔
PF16 — 0000H — — — — — — — —
PF17 — 10 — — — — — — — —
PF19 — 0000H — — — — — — — —
PF20 — 0000H — — — — — — — —
PF21 DRT Drive recorder switching time setting 0 s ✔ ✔ ✔ ✔ ✔ ✔ ✔
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 % ✔ ✔ ✔ ✔ ✔ ✔ ✔
PF24 *OSCL2 Vibration tough drive function selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 ms ✔ ✔ ✔ ✔ ✔ ✔ ✔
PF26 — 0 — — — — — — — —
PF27 — 0 — — — — — — — —
PF29 — 0000H — — — — — — — —
PF30 — 0 — — — — — — — —
1/min
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 ✔ ✔ ✔ ✔ ✔ ✔ ✔
mm/s
PF32 — 50 — — — — — — — —
PF33 — 0000H — — — — — — — —
PF34 *SOP3 RS-422 communication function selection 3 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PF35 — 0000H — — — — — — — —
PF36 — 0000H — — — — — — — —
PF37 — 0000H — — — — — — — —
PF39 — 0000H — — — — — — — —
PF40 — 0 — — — — — — — —
PF41 — 0 — — — — — — — —

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PF42 — 0 — — — — — — — —
PF43 — 0 — — — — — — — —
PF44 — 0000H — — — — — — — —
PF46 — 0000H — — — — — — — —
PF47 — 0000H — — — — — — — —
PF48 — 0000H — — — — — — — —
A - 32

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PL02 *LIM Linear encoder resolution - Numerator 1000 μm — — ✔ — ✔ ✔ —
PL03 *LID Linear encoder resolution - Denominator 1000 μm — — ✔ — ✔ ✔ —
mm
PL05 LB1 Position deviation error detection level 0 — — ✔ ✔ ✔ ✔ ✔
0.01 rev
1/min
PL06 LB2 Speed deviation error detection level 0 — — ✔ ✔ ✔ ✔ ✔
mm/s
PL07 LB3 Torque/thrust deviation error detection level 100 % — — ✔ ✔ ✔ ✔ ✔
PL09 LPWM Magnetic pole detection voltage level 30 % — — ✔ ✔ ✔ ✔ ✔
PL10 — 5 — — — — — — — —
PL11 — 100 — — — — — — — —
PL12 — 500 — — — — — — — —
PL14 — 0000H — — — — — — — —
PL15 — 20 — — — — — — — —
PL16 — 0 — — — — — — — —
PL17 LTSTS 0000H — — — ✔ ✔ ✔ ✔ ✔
Function selection
PL18 IDLV 0 % — — ✔ ✔ ✔ ✔ ✔
PL19 — 0 — — — — — — — —
PL20 — 0 — — — — — — — —
PL21 — 0 — — — — — — — —
PL22 — 0 — — — — — — — —
PL23 — 0000H — — — — — — — —
PL24 — 0 — — — — — — — —
PL25 — 0000H — — — — — — — —
PL26 — 0000H — — — — — — — —
PL27 — 0000H — — — — — — — —
PL28 — 0000H — — — — — — — —
PL30 — 0000H — — — — — — — —
PL31 — 0000H — — — — — — — —
PL32 — 0000H — — — — — — — —
PL33 — 0000H — — — — — — — —
PL34 — 0000H — — — — — — — —
PL35 — 0000H — — — — — — — —
PL36 — 0000H — — — — — — — —
PL37 — 0000H — — — — — — — —
PL38 — 0000H — — — — — — — —
PL39 — 0000H — — — — — — — —
Tab. A-16: List of linear servo motor/DD motor setting parameters for MR-J4-A-RJ (1)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PL40 — 0000H — — — — — — — —
PL41 — 0000H — — — — — — — —
PL42 — 0000H — — — — — — — —
PL43 — 0000H — — — — — — — —
PL45 — 0000H — — — — — — — —
PL46 — 0000H — — — — — — — —
PL47 — 0000H — — — — — — — —
PL48 — 0000H — — — — — — — —
Tab. A-16: List of linear servo motor/DD motor setting parameters for MR-J4-A-RJ (2)
A - 34
A.2.9 Option setting parameters (Po)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
Po01 — 0000H — — — — — — — —
Po02 — 0000H — — — — — — — —
Po03 — 0000H — — — — — — — —
Po04 — 0000H — — — — — — — —
Po05 — 0000H — — — — — — — —
Po06 — For manufacturer setting 0000H — — — — — — — —
Po07 — 0000H — — — — — — — —
Po08 — 0000H — — — — — — — —
Po09 — 0000H — — — — — — — —
Po10 — 0001H — — — — — — — —
Po11 — 0000H — — — — — — — —
Po12 *OOP3 Function selection O-3 0000H — ✔ ✔ ✔ ✔ ✔ — —
Po13 — 0000H — — — — — — — —
Po14 — 0000H — — — — — — — —
Po15 — 0000H — — — — — — — —
Po16 — 0000H — — — — — — — —
Po17 — 0000H — — — — — — — —
Po18 — 0000H — — — — — — — —
Po19 — 0000H — — — — — — — —
Po20 — 0000H — — — — — — — —
Po21 — 0000H — — — — — — — —
Po22 — 0000H — — — — — — — —
Po23 — 0000H — — — — — — — —
Po24 — 0000H — — — — — — — —
Po25 — 0000H — — — — — — — —
Po26 — 0000H — — — — — — — —
Po27 — 0000H — — — — — — — —
Po28 — 0000H — — — — — — — —
Po29 — 0000H — — — — — — — —
Po30 — 0000H — — — — — — — —
Po31 — 0000H — — — — — — — —
Po32 — 0000H — — — — — — — —
Tab. A-17: List of option setting parameters for MR-J4-A-RJ

A.2.10 Positioning control parameters (PT)

Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PT01 *CTY Command mode selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PT02 *TOP1 Function selection T-1 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PT03 *FTY Feeding function selection 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PT04 *ZTY Home position return type 0010H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
1/min
PT05 ZRF Home position return speed 100 ✔ ✔ ✔ ✔ ✔ ✔ ✔
mm/s
1/min
PT06 CRF Creep speed 10 ✔ ✔ ✔ ✔ ✔ ✔ ✔
mm/s
μm
10-4 inch
PT07 ZST Home position shift distance 0 ✔ ✔ ✔ ✔ ✔ ✔ ✔
10-3 degree
pulse
10STM μm
10-(STM-4) inch
PT08 *ZPS Home position return position data 0 ✔ ✔ ✔ ✔ ✔ ✔ —
10-3 degree
pulse
10STM μm
10-(STM-4) inch
PT09 DCT Travel distance after proximity dog 1000 ✔ ✔ ✔ ✔ ✔ ✔ —
10-3 degree
pulse
PT10 ZTM Stopper type home position return stopper time 100 ms ✔ ✔ ✔ ✔ ✔ ✔ —
PT11 ZTT Stopper type home position return torque limit value 15.0 % ✔ ✔ ✔ ✔ ✔ ✔ —
10STM μm
10-(STM-4) inch
PT12 CRP Rough match output range 0 ✔ ✔ ✔ ✔ ✔ ✔ ✔
10-3 degree
pulse
1/min
PT13 JOG JOG operation 100 ✔ ✔ ✔ ✔ ✔ ✔ ✔
mm/s
PT14 *BKC Backlash compensation 0 pulse ✔ ✔ ✔ ✔ ✔ ✔ ✔
PT15 LMPL 10 STM
μm
10-(STM-4) inch
Software limit + 0 ✔ ✔ ✔ ✔ ✔ ✔ —
PT16 LMPH 10-3 degree
pulse
PT17 LMNL 10STM μm
10-(STM-4) inch
Software limit – 0 ✔ ✔ ✔ ✔ ✔ ✔ —
PT18 LMNH 10-3 degree
pulse
PT19 *LPPL 10STM μm
10-(STM-4) inch
Position range output address + 0 ✔ ✔ ✔ ✔ ✔ ✔ —
PT20 *LPPH 10-3 degree
pulse
PT21 *LNPL 10STM μm
10-(STM-4) inch
Position range output address – 0 ✔ ✔ ✔ ✔ ✔ ✔ —
PT22 *LNPH 10-3 degree
pulse
PT23 OUT1 OUT1 output setting time 0 ms ✔ ✔ ✔ ✔ — ✔ —
PT26 *TOP2 Function selection T-2 0000H — ✔ ✔ ✔ ✔ ✔ ✔ —
Tab. A-18: List of positioning control parameters for MR-J4-A-RJ (1)
A - 36
Operation Control
mode mode
Initial
Standard
value
Full.
Lin.
DD
CP
PS
CL
PT27 *ODM Operation mode selection 0000H — ✔ — — ✔ — — ✔
PT28 *STN Number of stations per rotation 8 stations ✔ — — ✔ — — ✔
PT29 *TOP3 Function selection T-3 0000H — ✔ ✔ ✔ ✔ ✔ ✔ ✔
PT30 — 0 — — — — — — — —
PT31 — 0 — — — — — — — —
PT32 — 0000H — — — — — — — —
PT33 — 0000H — — — — — — — —
PT34 *PDEF Point table/program default 0000H — ✔ ✔ ✔ ✔ ✔ ✔ —
PT35 — 0000H — — — — — — — —
PT36 — For manufacturer setting 0000H — — — — — — — —
PT37 — 10 — — — — — — — —
PT38 *TOP7 Function selection T-7 0000H — ✔ — — ✔ — — ✔
PT39 INT Torque limit delay time 100 ms ✔ — — ✔ — — ✔
PT40 *SZS Station home position shift distance 0 pulse ✔ — — ✔ — — ✔
PT41 ORP Home position return inhibit selection 0000H ✔ ✔ ✔ ✔ ✔ ✔ ✔
PT42 *OVM Digital override minimum multiplication 0 % ✔ — — ✔ — — ✔
PT43 *OVS Digital override pitch width 0 % ✔ — — ✔ — — ✔
PT44 — 0000H — — — — — — — —
PT45 — 0000H — — — — — — — —
PT46 — For manufacturer setting 0000H — — — — — — — —
PT47 — 0000H — — — — — — — —
PT48 — 0000H — — — — — — — —
Tab. A-18: List of positioning control parameters for MR-J4-A-RJ (2)


– CP: Positioning mode (point table method)
– CL: Positioning mode (program method)
– PS: Positioning mode (indexer method)

Appendix Additional information about the series MR-J4-B(-RJ)
A.3 Additional information about the series MR-J4-B(-RJ)

A.3.1 Status display
Display Status Description
Initializing System check in progress
Power of the servo amplifier was switched on at the condition that the
power of the servo system controller is off.
The control axis No. set to the auxiliary axis number setting switches
(SW2-3 and SW2-4) and the axis selection rotary switch (SW1) do not
match the one set to the servo system controller.
A b Initializing
A servo amplifier malfunctioned, or communication error occurred
with the servo system controller or the previous axis servo amplifier. In
this case, the indication changes as follows:
“Ab”, “AC”, “Ad”, and “Ab”
The servo system controller is malfunctioning.
A b . Initializing During initial setting for communication specifications
Initial setting for communication specifications completed, and then it

AC Initializing
synchronized with servo system controller.
During initial parameter setting communication with servo system
A d Initializing
controller
During the servo motor/encoder information and telecommunication
A E Initializing
with servo system controller
A F Initializing During initial signal data communication with servo system controller
The process for initial data communication with the servo system con-
AH Initializing completion
troller is completed.
The power supply of servo system controller is turned off during the
A A Initializing standby
power supply of servo amplifier is on.

b # # Ready-off The ready-off signal from the servo system controller was received.

d # # Servo-on The ready-off signal from the servo system controller was received.

C # # Servo-off The ready-off signal from the servo system controller was received.

* * * Alarm and warning The alarm No. and the warning No. that occurred is displayed.
8 8 8 CPU error CPU watchdog error has occurred.

b # #.
d # #. Test operation mode Motor-less operation
C # #.
Tab. A-19: Indication list of MR-J4-B(-RJ)

The meanings of ## are listed below.
## Description
01 Axis No. 1
~
64 Axis No. 64

** indicates the alarm No. and the warning No.
Requires the MR Configurator2.
Only a list of alarms and warnings is listed in section 8.2. Refer to “MELSERVO J4 Servo Amplifier
Instruction Manual (Troubleshooting)” for details of alarms and warnings.
A - 38
Additional information about the series MR-J4-B(-RJ) Appendix

Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PA01 **STY Operation mode 1000H — ✔ ✔ ✔ ✔
PA02 **REG Regenerative option 0000H — ✔ ✔ ✔ ✔
PA03 *ABS Absolute position detection system 0000H — ✔ ✔ ✔ ✔
PA05 — 10000 — — — — —
PA06 — For manufacturer setting 1 — — — — —
PA07 — 1 — — — — —
PA08 ATU Auto tuning mode 0001H — ✔ ✔ ✔ ✔
PA09 RSP Auto tuning response 16 — ✔ ✔ ✔ ✔
PA10 INP In-position range 1600 pulse ✔ ✔ ✔ ✔
PA11 — 1000.0 — — — — —
PA12 — For manufacturer setting 1000.0 — — — — —
PA13 — 0000H — — — — —
PA14 *POL Rotation direction selection/travel direction selection 0 — ✔ ✔ ✔ ✔
PA15 *ENR Encoder output pulses 4000 pulse/rev ✔ ✔ ✔ ✔
PA16 *ENR2 Encoder output pulses 2 1 — ✔ ✔ ✔ ✔
PA17 **MSR Servo motor series setting 0000H — — — ✔ —
PA18 **MTY Servo motor type setting 0000H — — — ✔ —
PA19 *BLK Parameter writing inhibit 00ABH — ✔ ✔ ✔ ✔
PA20 *TDS Tough drive setting 0000H — ✔ ✔ ✔ ✔
PA22 **PCS Position control composition selection 0000H — ✔ — — —
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000H — ✔ ✔ ✔ ✔
PA24 AOP4 Function selection A-4 0000H — ✔ ✔ ✔ ✔
PA25 OTHOV One-touch tuning – Overshoot permissible level 0 % ✔ ✔ ✔ ✔
PA27 — 0000H — — — — —
PA28 — 0000H — — — — —
PA29 — 0000H — — — — —
PA30 — 0000H — — — — —
PA31 — 0000H — — — — —
PA32 — 0000H — — — — —
Tab. A-20: List of basic setting parameters for MR-J4-B(-RJ)


Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000H — ✔ ✔ ✔ ✔
Vibration suppression control tuning mode (advanced vibration suppression
PB02 VRFT 0000H — ✔ ✔ ✔ ✔
control II)
PB03 TFBGN Torque feedback loop gain 18000 rad/s ✔ ✔ ✔ ✔
PB04 FFC Feed forward gain 0 % ✔ ✔ ✔ ✔
PB05 — For manufacturer setting 500 — — — — —
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 Multiplier ✔ ✔ ✔ ✔
PB07 PG1 Model loop gain 15.0 rad/s ✔ ✔ ✔ ✔
PB08 PG2 Position loop gain 37.0 rad/s ✔ ✔ ✔ ✔
PB09 VG2 Speed loop gain 823 rad/s ✔ ✔ ✔ ✔
PB10 VIC Speed integral compensation 33.7 ms ✔ ✔ ✔ ✔
PB11 VDC Speed differential compensation 980 — ✔ ✔ ✔ ✔
PB12 OVA Overshoot amount compensation 0 % ✔ ✔ ✔ ✔
PB13 NH1 Machine resonance suppression filter 1 4500 Hz ✔ ✔ ✔ ✔
PB14 NHQ1 Notch shape selection 1 0000h — ✔ ✔ ✔ ✔
PB16 NHQ2 Notch shape selection 2 0000H — ✔ ✔ ✔ ✔
PB17 NHF Shaft resonance suppression filter 0000H — ✔ ✔ ✔ ✔
PB18 LPF Low-pass filter setting 3141 rad/s ✔ ✔ ✔ ✔
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 Hz ✔ ✔ ✔ ✔
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 Hz ✔ ✔ ✔ ✔
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00 — ✔ ✔ ✔ ✔
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00 — ✔ ✔ ✔ ✔
PB23 VFBF Low-pass filter selection 0000H — ✔ ✔ ✔ ✔
PB24 *MVS Slight vibration suppression control 0000H — ✔ ✔ ✔ ✔
PB25 — For manufacturer setting 0000H — — — — —
PB26 *CDP Gain switching function 0000H — ✔ ✔ ✔ ✔
kpulse/s
PB27 CDL Gain switching condition 10 pulse ✔ ✔ ✔ ✔
1/min
PB28 CDT Gain switching time constant 1 ms ✔ ✔ ✔ ✔
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching 7.00 Multiplier ✔ ✔ ✔ ✔
PB30 PG2B Position loop gain after gain switching 0.0 rad/s ✔ ✔ ✔ ✔
PB31 VG2B Speed loop gain after gain switching 0 rad/s ✔ ✔ ✔ ✔
PB32 VICB Speed integral compensation after gain switching 0.0 ms ✔ ✔ ✔ ✔
PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 Hz ✔ ✔ ✔ ✔
PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching 0.0 Hz ✔ ✔ ✔ ✔
PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching 0.00 — ✔ ✔ ✔ ✔
PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching 0.00 — ✔ ✔ ✔ ✔
PB37 — 1600 — — — — —
PB38 — 0.00 — — — — —
PB39 — 0.00 — — — — —
PB40 — 0.00 — — — — —
Tab. A-21: List of gain/filter setting parameters for MR-J4-B(-RJ) (1)
A - 40
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PB41 — 0 — — — — —
PB42 — 0 — — — — —
PB43 — 0000H — — — — —
PB44 — 0.00 — — — — —
PB45 CNHF Command notch filter 0000H — ✔ ✔ ✔ ✔
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 Hz ✔ ✔ ✔ ✔
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 Hz ✔ ✔ ✔ ✔
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00 — ✔ ✔ ✔ ✔
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00 — ✔ ✔ ✔ ✔
PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 Hz ✔ ✔ ✔ ✔
PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching 0.0 Hz ✔ ✔ ✔ ✔
PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.00 ✔ ✔ ✔ ✔
PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching 0.00 — ✔ ✔ ✔ ✔
PB60 PG1B Model loop gain after gain switching 0.0 rad/s ✔ ✔ ✔ ✔
PB61 — 0.0 — — — — —
PB62 — 0000H — — — — —
PB63 — 0000H — — — — —
PB64 — 0000H — — — — —
Tab. A-21: List of gain/filter setting parameters for MR-J4-B(-RJ) (2)


Operation
mode
Initial
Standard
value
Full.
Lin.
DD
rev
PC01 ERZ Error excessive alarm level 0 ✔ ✔ ✔ ✔
mm
PC02 MBR Electromagnetic brake sequence output 0 ms ✔ ✔ ✔ ✔
PC03 *ENRS Encoder output pulse selection 0000H — ✔ ✔ ✔ ✔
PC04 **COP1 Function selection C-1 0000H — ✔ ✔ ✔ ✔
PC05 **COP2 Function selection C-2 0000H — ✔ — — —
PC06 *COP3 Function selection C-3 0000H — ✔ ✔ ✔ ✔
1/min
PC07 ZSP Zero speed 50 ✔ ✔ ✔ ✔
mm/s
1/min
PC08 OSL Overspeed alarm detection level 0 ✔ ✔ ✔ ✔
mm/s
PC09 MOD1 Analog monitor 1 output 0000H — ✔ ✔ ✔ ✔
PC10 MOD2 Analog monitor 2 output 0000H — ✔ ✔ ✔ ✔
PC11 MO1 Analog monitor 1 offset 0 mV ✔ ✔ ✔ ✔
PC12 MO2 Analog monitor 2 offset 0 mV ✔ ✔ ✔ ✔
PC13 MOSDL Analog monitor - Feedback position output standard data - Low 0 pulse ✔ ✔ ✔ ✔
PC14 MOSDH Analog monitor - Feedback position output standard data - High 0 103 pulses ✔ ✔ ✔ ✔
PC15 — 0 — — — — —
PC16 — 0000H — — — — —
PC17 **COP4 Function selection C-4 0000H — ✔ ✔ ✔ ✔
PC19 — For manufacturer setting 0000H — — — — —
PC21 *BPS Alarm history clear 0000H — ✔ ✔ ✔ ✔
PC22 — 0 — — — — —
PC23 — 0000H — — — — —
PC24 RSBR Forced stop deceleration time constant 100 ms ✔ ✔ ✔ ✔
PC25 — For manufacturer setting 0 — — — — —
✔
PC26 **COP8 Function selection C-8 0000H — ✔ ✔ ✔
✔
PC27 **COP9 Function selection C-9 0000H — ✔ ✔ —

PC29 *COPB Function selection C-B 0000H — ✔ — ✔ ✔
PC30 — For manufacturer setting 0 — — — — —
0.0001rev
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 ✔ ✔ ✔ ✔
0.01mm
PC32 — 0000H — — — — —
PC33 — 0 — — — — —
PC34 — 100 — — — — —
PC35 — 0000H — — — — —
PC36 — 0000H — — — — —
PC37 — 0000H — — — — —
Tab. A-22: List of extension setting parameters for MR-J4-B(-RJ) (1)
A - 42
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PC38 — 0000H — — — — —
PC39 — 0000H — — — — —
PC40 — 0000H — — — — —
PC41 — 0000H — — — — —
PC42 — 0000H — — — — —
PC43 — 0000H — — — — —
PC44 — 0000H — — — — —
PC45 — 0000H — — — — —
PC46 — 0000H — — — — —
PC47 — 0000H — — — — —
PC48 — 0000H — — — — —
PC49 — 0000H — — — — —
PC50 — 0000H — — — — —
PC52 — 0000H — — — — —
PC53 — 0000H — — — — —
PC54 — 0000H — — — — —
PC55 — 0000H — — — — —
PC56 — 0000H — — — — —
PC57 — 0000H — — — — —
PC58 — 0000H — — — — —
PC59 — 0000H — — — — —
PC60 — 0000H — — — — —
PC61 — 0000H — — — — —
PC62 — 0000H — — — — —
PC63 — 0000H — — — — —
PC64 — 0000H — — — — —
Tab. A-22: List of extension setting parameters for MR-J4-B(-RJ) (2)

It is available when the scale measurement function is enabled (PA22 is “1” or “2”).


Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PD01 — For manufacturer setting 0000H — — — — —
PD02 *DIA2 Input signal automatic on selection 2 0000H — ✔ ✔ ✔ ✔
PD03 — 0020H — — — — —
PD04 — 0021H — — — — —
PD05 — 0022H — — — — —
PD06 — 0000H — — — — —
PD07 *DO1 Output device selection 1 0005H — ✔ ✔ ✔ ✔
PD11 *DIF Input filter setting 0004H ms ✔ ✔ ✔ ✔
PD12 *DOP1 Function selection D-1 0000H — ✔ ✔ ✔ ✔
PD14 *DOP3 Function selection D-3 0000H — ✔ ✔ ✔ ✔
PD15 *IDCS Driver communication setting 0000H — ✔ ✔ — —
PD16 *MD1 Driver communication setting - Master - Transmit data selection 1 0000H — ✔ ✔ — —
PD17 *MD2 Driver communication setting - Master - Transmit data selection 2 0000H — ✔ ✔ — —
PD18 — 0000H — — — — —
PD19 — 0000H — — — — —
PD20 *SLA1 Driver communication setting - Slave - Master axis No. selection 1 0 — ✔ — — —
PD21 — 0 — — — — —
PD22 — 0 — — — — —
PD23 — 0 — — — — —
PD24 — 0000H — — — — —
PD26 — 0000H — — — — —
PD27 — 0000H — — — — —
PD28 — 0000H — — — — —
PD29 — 0000H — — — — —
PD30 TLC Master-slave operation - Torque command coefficient on slave 0 — ✔ — — —
PD31 VLC Master-slave operation - Speed limit coefficient on slave 0 — ✔ — — —
PD32 VLL Master-slave operation - Speed limit adjusted value on slave 0 1/min ✔ — — —
PD33 — 0000H — — — — —
PD34 — 0000H — — — — —
PD35 — 0000H — — — — —
PD36 — 0000H — — — — —
PD37 — 0000H — — — — —
PD38 — 0000H — — — — —
PD39 — 0000H — — — — —
PD40 — 0000H — — — — —
PD41 — 0000H — — — — —
PD42 — 0000H — — — — —
Tab. A-23: List of I/O setting parameters for MR-J4-B(-RJ) (1)
A - 44
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PD43 — 0000H — — — — —
PD44 — 0000H — — — — —
PD45 — 0000H — — — — —
PD46 — 0000H — — — — —
PD47 — 0000H — — — — —
PD48 — 0000H — — — — —
Tab. A-23: List of I/O setting parameters for MR-J4-B(-RJ) (2)


Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PE01 **FCT1 Fully closed loop function selection 1 0000H — — ✔ — —
PE02 — For manufacturer setting 0000H — — — — —
PE03 *FCT2 Fully closed loop function selection 2 0003H — — ✔ — —
PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1 — — ✔ — —
PE05 **FBD Fully closed loop control - Feedback pulse electronic gear 1 - Denominator 1 — — ✔ — —
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 1/min — ✔ — —
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 kpulse — ✔ — —
PE08 DUF Fully closed loop dual feedback filter 10 rad/s — ✔ — —
PE10 FCT3 Fully closed loop function selection 3 0000H — ✔ ✔ — —
PE11 — 0000H — — — — —
PE12 — 0000H — — — — —
PE13 — 0000H — — — — —
PE14 — 0111H — — — — —
PE15 — 20 — — — — —
PE16 — 0000H — — — — —
PE17 — 0000H — — — — —
PE18 — 0000H — — — — —
PE19 — 0000H — — — — —
PE20 — 0000H — — — — —
PE21 — 0000H — — — — —
PE23 — 0000H — — — — —
PE24 — 0000H — — — — —
PE25 — 0000H — — — — —
PE26 — 0000H — — — — —
PE27 — 0000H — — — — —
PE28 — 0000H — — — — —
PE29 — 0000H — — — — —
PE30 — 0000H — — — — —
PE31 — 0000H — — — — —
PE32 — 0000H — — — — —
PE33 — 0000H — — — — —
PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator 1 — — ✔ — —
PE35 **FBD2 Fully closed loop control - Feedback pulse electronic gear 2 - Denominator 1 — — ✔ — —
PE36 — 0.0 — — — — —
PE37 — 0.00 — — — — —
PE38 — For manufacturer setting 0.00 — — — — —
PE39 — 20 — — — — —
PE40 — 0000H — — — — —
PE41 EOP3 Function selection E-3 0000H — ✔ ✔ ✔ ✔
PE42 — For manufacturer setting 0 — — — — —
Tab. A-24: List of Extension setting 2 parameters for MR-J4-B(-RJ) (1)
A - 46
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PE43 — 0.0 — — — — —
PE44 — 0000H — — — — —
PE45 — 0000H — — — — —
PE46 — 0000H — — — — —
PE47 — 0000H — — — — —
PE48 — 0000H — — — — —
PE49 — 0000H — — — — —
PE50 — 0000H — — — — —
PE51 — 0000H — — — — —
PE52 — 0000H — — — — —
PE53 — 0000H — — — — —
PE54 — 0000H — — — — —
PE55 — 0000H — — — — —
PE56 — 0000H — — — — —
PE57 — 0000H — — — — —
PE58 — 0000H — — — — —
PE59 — 0000H — — — — —
PE60 — 0000H — — — — —
PE61 — 0.00 — — — — —
PE62 — 0.00 — — — — —
PE63 — 0.00 — — — — —
PE64 — 0.00 — — — — —


Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PF01 — 0000H — — — — —
PF02 — 0000H — — — — —
PF03 — For manufacturer setting 0000H — — — — —
PF04 — 0 — — — — —
PF05 — 0000H — — — — —
PF06 *FOP5 Function selection F-5 0000H — ✔ ✔ ✔ ✔
PF07 — 0000H — — — — —
PF08 — 0000H — — — — —
PF09 — For manufacturer setting 0 — — — — —
PF10 — 0 — — — — —
PF11 — 0 — — — — —
PF12 DBT Electronic dynamic brake operating time 2000 ms ✔ ✔ ✔ ✔
PF13 — 0000H — — — — —
PF14 — 10 — — — — —
PF15 — 0000H — — — — —
PF16 — 0000H — — — — —
PF17 — 0000H — — — — —
PF18 — 0000H — — — — —
PF19 — 0000H — — — — —
PF20 — 0000H — — — — —
PF21 DRT Drive recorder switching time setting 0 s ✔ ✔ ✔ ✔
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 % ✔ ✔ ✔ ✔
PF24 *OSCL2 Vibration tough drive function selection 0000H — ✔ ✔ ✔ ✔
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 ms ✔ ✔ ✔ ✔
PF26 — 0 — — — — —
PF27 — 0 — — — — —
PF29 — 0000H — — — — —
PF30 — 0 — — — — —
1/min
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 ✔ ✔ ✔ ✔
mm/s
PF32 — 50 — — — — —
PF33 — 0000H — — — — —
PF34 — 0000H — — — — —
PF35 — 0000H — — — — —
PF36 — 0000H — — — — —
PF37 — 0000H — — — — —
PF38 — 0000H — — — — —
PF39 — 0000H — — — — —
PF40 — 0000H — — — — —
PF41 — 0000H — — — — —
A - 48
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PF42 — 0000H — — — — —
PF43 — 0000H — — — — —
PF44 — 0000H — — — — —
PF45 — For manufacturer setting 0000H — — — — —
PF46 — 0000H — — — — —
PF47 — 0000H — — — — —
PF48 — 0000H — — — — —


Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301H — — — ✔ ✔
PL02 **LIM Linear encoder resolution - Numerator 1000 μm — — ✔ —
PL03 **LID Linear encoder resolution - Denominator 1000 μm — — ✔ —
PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003H — — — ✔ ✔
mm
PL05 LB1 Position deviation error detection level 0 — — ✔ ✔
0.01 rev
1/min
PL06 LB2 Speed deviation error detection level 0 — — ✔ ✔
mm/s
PL07 LB3 Torque/thrust deviation error detection level 100 % — — ✔ ✔
PL08 *LIT3 Linear servo motor/DD motor function selection 3 0010H — — — ✔ ✔
PL09 LPWM Magnetic pole detection voltage level 30 % — — ✔ ✔
PL10 — 5 — — — — —
PL11 — 100 — — — — —
PL12 — 500 — — — — —
PL13 — For manufacturer setting 0000H — — — — —
PL14 — 0 — — — — —
PL15 — 20 — — — — —
PL16 — 0 — — — — —
PL17 LTSTS Magnetic pole detection - Minute position detection method - Function selection 0000H — — — ✔ ✔
Magnetic pole detection - Minute position detection method - Identification signal
PL18 IDLV 0 % — — ✔ ✔
amplitude
PL19 — 0 — — — — —
PL20 — 0 — — — — —
PL21 — 0 — — — — —
PL22 — 0 — — — — —
PL23 — 0000H — — — — —
PL24 — 0 — — — — —
PL25 — 0000H — — — — —
PL26 — 0000H — — — — —
PL27 — 0000H — — — — —
PL28 — 0000H — — — — —
PL29 — 0000H — — — — —
PL30 — 0000H — — — — —
PL31 — 0000H — — — — —
PL32 — 0000H — — — — —
PL33 — 0000H — — — — —
PL34 — 0000H — — — — —
PL35 — 0000H — — — — —
PL36 — 0000H — — — — —
PL37 — 0000H — — — — —
PL38 — 0000H — — — — —
PL39 — 0000H — — — — —
PL40 — 0000H — — — — —
Tab. A-26: List of linear servo motor/DD motor setting parameters for MR-J4-B(-RJ) (1)
A - 50
Operation
mode
Initial
Standard
value
Full.
Lin.
DD
PL41 — 0000H — — — — —
PL42 — 0000H — — — — —
PL43 — 0000H — — — — —
PL44 — 0000H — — — — —
PL45 — 0000H — — — — —
PL46 — 0000H — — — — —
PL47 — 0000H — — — — —
PL48 — 0000H — — — — —
Tab. A-26: List of linear servo motor/DD motor setting parameters for MR-J4-B(-RJ) (2)


Appendix Additional information about the series MR-J4W-B
A.4 Additional information about the series MR-J4W-B

A.4.1 Status display
Display Status Description
Initializing System check in progress
Power of the servo amplifier was switched on at the condition that the
power of the servo system controller is off.
The control axis No. set to the auxiliary axis number setting switches
(SW2-5 and SW2-6) and the axis selection rotary switch (SW1) do not
match the one set to the servo system controller.
A b Initializing
A servo amplifier malfunctioned, or communication error occurred
with the servo system controller or the previous axis servo amplifier. In
this case, the indication changes as follows:
“Ab”, “AC”, “Ad”, and “Ab”
The servo system controller is malfunctioning.
A b . Initializing During initial setting for communication specifications
Initial setting for communication specifications completed, and then it

AC Initializing
synchronized with servo system controller.
During initial parameter setting communication with servo system
A d Initializing
controller
During the servo motor/encoder information and telecommunication
A E Initializing
with servo system controller
A F Initializing During initial signal data communication with servo system controller
The process for initial data communication with the servo system con-
AH Initializing completion
troller is completed.
The power supply of servo system controller is turned off during the
A A Initializing standby
power supply of servo amplifier is on.

b # # Ready-off The ready-off signal from the servo system controller was received.

d # # Servo-on The ready-off signal from the servo system controller was received.

C # # Servo-off The ready-off signal from the servo system controller was received.

* * * Alarm and warning The alarm No. and the warning No. that occurred is displayed.
8 8 8 CPU error CPU watchdog error has occurred.

b # #.
d # #. Test operation mode Motor-less operation
C # #.
Tab. A-27: Indication list of MR-J4W-B

The meanings of ## are listed below.
## Description
01 Axis No. 1
~
64 Axis No. 64

*** indicates the alarm No. and the warning No. “A” in the third digit indicates the A-axis, “B” indi-
cates the B-axis, and “C” indicates the C-axis.

Only a list of alarms and warnings is listed in section 8.3. Refer to “MELSERVO J4 Servo Amplifier
Instruction Manual (Troubleshooting)” for details of alarms and warnings.
A - 52
Additional information about the series MR-J4W-B Appendix

Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PA01 **STY Operation mode 1000H — Each ✔ ✔ ✔ ✔
PA02 **REG Regenerative option 0000H — Common ✔ ✔ ✔ ✔
PA03 *ABS Absolute position detection system 0000H — Each ✔ ✔ ✔ ✔
PA04 *AOP1 Function selection A-1 2000H — Common ✔ ✔ ✔ ✔
PA05 — 10000 — — — — — —
PA06 — For manufacturer setting 1 — — — — — —
PA07 — 1 — — — — — —
PA08 ATU Auto tuning mode 0001H — Each ✔ ✔ ✔ ✔
PA09 RSP Auto tuning response 16 — Each ✔ ✔ ✔ ✔
PA10 INP In-position range 1600 pulse Each ✔ ✔ ✔ ✔
PA11 — 1000.0 — — — — — —
PA12 — For manufacturer setting 1000.0 — — — — — —
PA13 — 0000H — — — — — —
PA14 *POL Rotation direction selection/travel direction selection 0 — Each ✔ ✔ ✔ ✔
PA15 *ENR Encoder output pulses 4000 pulse/rev Each ✔ ✔ ✔ ✔
PA16 *ENR2 Encoder output pulses 2 1 — Each ✔ ✔ ✔ ✔
PA17 **MSR Servo motor series setting 0000H — Each — — ✔ —
PA18 **MTY Servo motor type setting 0000H — Each — — ✔ —
PA19 *BLK Parameter writing inhibit 00ABH — Each ✔ ✔ ✔ ✔
PA20 *TDS Tough drive setting 0000H — Each ✔ ✔ ✔ ✔
PA21 *AOP3 Function selection A-3 0001H — Each ✔ ✔ ✔ ✔
PA22 **PCS Position control composition selection 0000H — Each ✔ — — —
PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000H — Each ✔ ✔ ✔ ✔
PA24 AOP4 Function selection A-4 0000H — Each ✔ ✔ ✔ ✔
PA25 OTHOV One-touch tuning – Overshoot permissible level 0 % Each ✔ ✔ ✔ ✔
PA26 — 0000H — — — — — —
PA27 — 0000H — — — — — —
PA28 — 0000H — — — — — —
PA29 — For manufacturer setting 0000H — — — — — —
PA30 — 0000H — — — — — —
PA31 — 0000H — — — — — —
PA32 — 0000H — — — — — —
Tab. A-28: List of basic setting parameters for MR-J4W-B


Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PB01 FILT Adaptive tuning mode (adaptive filter II) 0000H — Each ✔ ✔ ✔ ✔
Vibration suppression control tuning mode (advanced vibration
PB02 VRFT 0000H — Each ✔ ✔ ✔ ✔
suppression control II)
PB03 TFBGN Torque feedback loop gain 18000 rad/s Each ✔ ✔ ✔ ✔
PB04 FFC Feed forward gain 0 % Each ✔ ✔ ✔ ✔
PB05 — For manufacturer setting 500 — — — — — —
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 7.00 Multiplier Each ✔ ✔ ✔ ✔
PB07 PG1 Model loop gain 15.0 rad/s Each ✔ ✔ ✔ ✔
PB08 PG2 Position loop gain 37.0 rad/s Each ✔ ✔ ✔ ✔
PB09 VG2 Speed loop gain 823 rad/s Each ✔ ✔ ✔ ✔
PB10 VIC Speed integral compensation 33.7 ms Each ✔ ✔ ✔ ✔
PB11 VDC Speed differential compensation 980 — Each ✔ ✔ ✔ ✔
PB12 OVA Overshoot amount compensation 0 % Each ✔ ✔ ✔ ✔
PB13 NH1 Machine resonance suppression filter 1 4500 Hz Each ✔ ✔ ✔ ✔
PB14 NHQ1 Notch shape selection 1 0000h — Each ✔ ✔ ✔ ✔
PB16 NHQ2 Notch shape selection 2 0000H — Each ✔ ✔ ✔ ✔
PB17 NHF Shaft resonance suppression filter 0000H — Each ✔ ✔ ✔ ✔
PB18 LPF Low-pass filter setting 3141 rad/s Each ✔ ✔ ✔ ✔
PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 Hz Each ✔ ✔ ✔ ✔
PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 Hz Each ✔ ✔ ✔ ✔
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00 — Each ✔ ✔ ✔ ✔
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00 — Each ✔ ✔ ✔ ✔
PB23 VFBF Low-pass filter selection 0000H — Each ✔ ✔ ✔ ✔
PB24 *MVS Slight vibration suppression control 0000H — Each ✔ ✔ ✔ ✔
PB25 — For manufacturer setting 0000H — — — — — —
PB26 *CDP Gain switching function 0000H — Each ✔ ✔ ✔ ✔
kpulse/s
PB27 CDL Gain switching condition 10 pulse Each ✔ ✔ ✔ ✔
1/min
PB28 CDT Gain switching time constant 1 ms Each ✔ ✔ ✔ ✔
PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching 7.00 Multiplier Each ✔ ✔ ✔ ✔
PB30 PG2B Position loop gain after gain switching 0.0 rad/s Each ✔ ✔ ✔ ✔
PB31 VG2B Speed loop gain after gain switching 0 rad/s Each ✔ ✔ ✔ ✔
PB32 VICB Speed integral compensation after gain switching 0.0 ms Each ✔ ✔ ✔ ✔
PB33 VRF11B 0.0 Hz Each ✔ ✔ ✔ ✔
switching
PB34 VRF12B 0.0 Hz Each ✔ ✔ ✔ ✔
switching
PB35 VRF13B 0.00 — Each ✔ ✔ ✔ ✔
gain switching
PB36 VRF14B 0.00 — Each ✔ ✔ ✔ ✔
gain switching
Tab. A-29: List of gain/filter setting parameters for MR-J4W-B (1)
A - 54
Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PB37 — 1600 — — — — — —
PB38 — 0.00 — — — — — —
PB39 — 0.00 — — — — — —
PB40 — 0.00 — — — — — —
PB41 — 0 — — — — — —
PB42 — 0 — — — — — —
PB43 — 0000H — — — — — —
PB44 — 0.00 — — — — — —
PB45 CNHF Command notch filter 0000H — Each ✔ ✔ ✔ ✔
PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 Hz Each ✔ ✔ ✔ ✔
PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 Hz Each ✔ ✔ ✔ ✔
PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00 — Each ✔ ✔ ✔ ✔
PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00 — Each ✔ ✔ ✔ ✔
PB56 VRF21B 0.0 Hz Each ✔ ✔ ✔ ✔
switching
PB57 VRF22B 0.0 Hz Each ✔ ✔ ✔ ✔
switching
PB58 VRF23B 0.00 Each ✔ ✔ ✔ ✔
gain switching
PB59 VRF24B 0.00 — Each ✔ ✔ ✔ ✔
gain switching
PB60 PG1B Model loop gain after gain switching 0.0 rad/s Each ✔ ✔ ✔ ✔
PB61 — 0.0 — — — — — —
PB62 — 0000H — — — — — —
PB63 — 0000H — — — — — —
PB64 — 0000H — — — — — —
Tab. A-29: List of gain/filter setting parameters for MR-J4W-B (2)


Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
rev
PC01 ERZ Error excessive alarm level 0 Each ✔ ✔ ✔ ✔
mm
PC02 MBR Electromagnetic brake sequence output 0 ms Each ✔ ✔ ✔ ✔
PC03 *ENRS Encoder output pulse selection 0000H — Each ✔ ✔ ✔ ✔
PC04 **COP1 Function selection C-1 0000H — Each ✔ ✔ ✔ ✔
PC05 **COP2 Function selection C-2 0000H — Each ✔ — — —
PC06 *COP3 Function selection C-3 0000H — Each ✔ ✔ ✔ ✔
1/min
PC07 ZSP Zero speed 50 Each ✔ ✔ ✔ ✔
mm/s
1/min
PC08 OSL Overspeed alarm detection level 0 Each ✔ ✔ ✔ ✔
mm/s
PC09 — 0000H — — — — — —
PC10 — 0001H — — — — — —
PC11 — 0 — — — — — —
PC12 — 0 — — — — — —
PC13 — 0 — — — — — —
PC14 — 0 — — — — — —
PC15 — 0 — — — — — —
PC16 — 0000H — — — — — —
PC17 **COP4 Function selection C-4 0000H — Each ✔ ✔ ✔ ✔
PC18 *COP5 Function selection C-5 0000H — Common ✔ ✔ ✔ ✔
PC19 — 0000H — — — — — —
PC20 — 0000H — — — — — —
PC21 *BPS Alarm history clear 0000H — Each ✔ ✔ ✔ ✔
PC22 — 0 — — — — — —
PC23 — 0000H — — — — — —
PC24 RSBR Forced stop deceleration time constant 100 ms Each ✔ ✔ ✔ ✔
PC25 — 0 — — — — — —
PC26 — 0000H — — — — — —
✔
PC27 **COP9 Function selection C-9 0000H — Each ✔ ✔ —
PC28 — For manufacturer setting 0000H — — — — — —

PC29 *COPB Function selection C-B 0000H — ✔ — ✔ ✔
PC30 — For manufacturer setting 0 — — — — — —
0.0001rev
PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 Each ✔ ✔ ✔ ✔
0.01mm
PC32 — 0000H — — — — — —
PC33 — 0 — — — — — —
PC34 — 100 — — — — — —
PC35 — For manufacturer setting 0000H — — — — — —
PC36 — 0000H — — — — — —
PC37 — 0000H — — — — — —
PC38 — 0000H — — — — — —
Tab. A-30: List of extension setting parameters for MR-J4W-B (1)
A - 56
Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PC39 — 0000H — — — — — —
PC40 — 0000H — — — — — —
PC41 — 0000H — — — — — —
PC42 — 0000H — — — — — —
PC43 — 0000H — — — — — —
PC44 — 0000H — — — — — —
PC45 — 0000H — — — — — —
PC46 — 0000H — — — — — —
PC47 — 0000H — — — — — —
PC48 — 0000H — — — — — —
PC49 — 0000H — — — — — —
PC50 — 0000H — — — — — —
PC51 — 0000H — — — — — —
PC52 — 0000H — — — — — —
PC53 — 0000H — — — — — —
PC54 — 0000H — — — — — —
PC55 — 0000H — — — — — —
PC56 — 0000H — — — — — —
PC57 — 0000H — — — — — —
PC58 — 0000H — — — — — —
PC59 — 0000H — — — — — —
PC60 — 0000H — — — — — —
PC61 — 0000H — — — — — —
PC62 — 0000H — — — — — —
PC63 — 0000H — — — — — —
PC64 — 0000H — — — — — —
Tab. A-30: List of extension setting parameters for MR-J4W-B (2)

It is available when the scale measurement function is enabled (PA22 is “1” or “2”).


Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PD01 — For manufacturer setting 0000H — — — — — —
PD02 *DIA2 Input signal automatic on selection 2 0000H — Each ✔ ✔ ✔ ✔
PD03 — 0020H — — — — — —
PD04 — 0021H — — — — — —
PD05 — 0022H — — — — — —
PD06 — 0000H — — — — — —
PD07 *DO1 Output device selection 1 0005H — Each ✔ ✔ ✔ ✔
PD08 *DO2 Output device selection 2 0004H — Common ✔ ✔ ✔ ✔
PD09 *DO3 Output device selection 3 0003H — Common ✔ ✔ ✔ ✔
PD11 *DIF Input filter setting 0004H ms Common ✔ ✔ ✔ ✔
PD12 *DOP1 Function selection D-1 0000H — Each ✔ ✔ ✔ ✔
PD14 *DOP3 Function selection D-3 0000H — Each ✔ ✔ ✔ ✔
PD15 — 0000H — — — — — —
PD16 — 0000H — — — — — —
PD17 — 0000H — — — — — —
PD18 — 0000H — — — — — —
PD19 — 0000H — — — — — —
PD20 — 0 — — — — — —
PD21 — 0 — — — — — —
PD22 — 0 — — — — — —
PD23 — 0 — — — — — —
PD24 — 0000H — — — — — —
PD25 — 0000H — — — — — —
PD26 — 0000H — — — — — —
PD27 — 0000H — — — — — —
PD28 — 0000H — — — — — —
PD29 — 0000H — — — — — —
PD30 — 0 — — — — — —
PD31 — 0 — — — — — —
PD32 — 0 — — — — — —
PD33 — 0000H — — — — — —
PD34 — 0000H — — — — — —
PD35 — 0000H — — — — — —
PD36 — 0000H — — — — — —
PD37 — 0000H — — — — — —
PD38 — 0000H — — — — — —
PD39 — 0000H — — — — — —
PD40 — 0000H — — — — — —
PD41 — 0000H — — — — — —
PD42 — 0000H — — — — — —
Tab. A-31: List of I/O setting parameters for MR-J4W-B (1)
A - 58
Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PD43 — 0000H — — — — — —
PD44 — 0000H — — — — — —
PD45 — 0000H — — — — — —
PD46 — 0000H — — — — — —
PD47 — 0000H — — — — — —
PD48 — 0000H — — — — — —
Tab. A-31: List of I/O setting parameters for MR-J4W-B (2)


Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PE01 **FCT1 Fully closed loop function selection 1 0000H — Each — ✔ — —
PE02 — For manufacturer setting 0000H — — — — — —
PE03 *FCT2 Fully closed loop function selection 2 0003H — Each — ✔ — —
PE04 **FBN Fully closed loop control - Feedback pulse electronic gear 1 - Numerator 1 — Each — ✔ — —
PE05 **FBD 1 — Each — ✔ — —
Denominator
PE06 BC1 Fully closed loop control - Speed deviation error detection level 400 1/min Each — ✔ — —
PE07 BC2 Fully closed loop control - Position deviation error detection level 100 kpulse Each — ✔ — —
PE08 DUF Fully closed loop dual feedback filter 10 rad/s Each — ✔ — —
PE10 FCT3 Fully closed loop function selection 3 0000H — Each ✔ ✔ — —
PE11 — 0000H — — — — — —
PE12 — 0000H — — — — — —
PE13 — 0000H — — — — — —
PE14 — 0111H — — — — — —
PE15 — 20 — — — — — —
PE16 — 0000H — — — — — —
PE17 — 0000H — — — — — —
PE18 — 0000H — — — — — —
PE19 — 0000H — — — — — —
PE20 — 0000H — — — — — —
PE21 — 0000H — — — — — —
PE23 — 0000H — — — — — —
PE24 — 0000H — — — — — —
PE25 — 0000H — — — — — —
PE26 — 0000H — — — — — —
PE27 — 0000H — — — — — —
PE28 — 0000H — — — — — —
PE29 — 0000H — — — — — —
PE30 — 0000H — — — — — —
PE31 — 0000H — — — — — —
PE32 — 0000H — — — — — —
PE33 — 0000H — — — — — —
PE34 **FBN2 Fully closed loop control - Feedback pulse electronic gear 2 - Numerator 1 — Each — ✔ — —
PE35 **FBD2 1 — Each — ✔ — —
Denominator
PE36 — 0.0 — — — — — —
PE37 — 0.00 — — — — — —
PE38 — For manufacturer setting 0.00 — — — — — —
PE39 — 20 — — — — — —
PE40 — 0000H — — — — — —
PE41 EOP3 Function selection E-3 0000H — Each ✔ ✔ ✔ ✔
Tab. A-32: List of Extension setting 2 parameters for MR-J4W-B (1)
A - 60
Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PE42 — 0 — — — — — —
PE43 — 0.0 — — — — — —
PE44 — 0000H — — — — — —
PE45 — 0000H — — — — — —
PE46 — 0000H — — — — — —
PE47 — 0000H — — — — — —
PE48 — 0000H — — — — — —
PE49 — 0000H — — — — — —
PE50 — 0000H — — — — — —
PE51 — 0000H — — — — — —
PE52 — 0000H — — — — — —
PE54 — 0000H — — — — — —
PE55 — 0000H — — — — — —
PE56 — 0000H — — — — — —
PE57 — 0000H — — — — — —
PE58 — 0000H — — — — — —
PE59 — 0000H — — — — — —
PE60 — 0000H — — — — — —
PE61 — 0.00 — — — — — —
PE62 — 0.00 — — — — — —
PE63 — 0.00 — — — — — —
PE64 — 0.00 — — — — — —


Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PF01 — For manufacturer setting 0000H — — — — — —
PF02 *FOP2 Function selection F-2 0000H — Common ✔ ✔ ✔ ✔
PF03 — 0000H — — — — — —
PF04 — For manufacturer setting 0 — — — — — —
PF05 — 0000H — — — — — —
PF06 *FOP5 Function selection F-5 0000H — Each ✔ ✔ ✔ ✔
PF07 — 0000H — — — — — —
PF08 — 0000H — — — — — —
PF10 — 0 — — — — — —
PF11 — 0 — — — — — —
PF12 DBT Electronic dynamic brake operating time 2000 ms Each ✔ ✔ ✔ ✔
PF13 — 0000H — — — — — —
PF14 — 10 — — — — — —
PF15 — 0000H — — — — — —
PF16 — 0000H — — — — — —
PF17 — 0000H — — — — — —
PF18 — 0000H — — — — — —
PF19 — 0000H — — — — — —
PF20 — 0000H — — — — — —
PF21 DRT Drive recorder switching time setting 0 s Common ✔ ✔ ✔ ✔
PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 % Each ✔ ✔ ✔ ✔
PF24 *OSCL2 Vibration tough drive function selection 0000H — Each ✔ ✔ ✔ ✔
PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 ms Common ✔ ✔ ✔ ✔
PF26 — 0 — — — — — —
PF27 — 0 — — — — — —
PF29 — 0000H — — — — — —
PF30 — 0 — — — — — —
1/min
PF31 FRIC Machine diagnosis function - Friction judgement speed 0 Each ✔ ✔ ✔ ✔
mm/s
PF32 — 50 — — — — — —
PF33 — 0000H — — — — — —
PF34 — 0000H — — — — — —
PF35 — 0000H — — — — — —
PF36 — 0000H — — — — — —
PF37 — 0000H — — — — — —
PF38 — 0000H — — — — — —
PF39 — 0000H — — — — — —
PF40 — 0000H — — — — — —
PF41 — 0000H — — — — — —
A - 62
Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PF42 — 0000H — — — — — —
PF43 — 0000H — — — — — —
PF44 — 0000H — — — — — —
PF45 — For manufacturer setting 0000H — — — — — —
PF46 — 0000H — — — — — —
PF47 — 0000H — — — — — —
PF48 — 0000H — — — — — —


Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PL01 **LIT1 Linear servo motor/DD motor function selection 1 0301H — Each — — ✔ ✔
PL02 **LIM Linear encoder resolution - Numerator 1000 μm Each — — ✔ —
PL03 **LID Linear encoder resolution - Denominator 1000 μm Each — — ✔ —
PL04 *LIT2 Linear servo motor/DD motor function selection 2 0003H — Each — — ✔ ✔
mm
PL05 LB1 Position deviation error detection level 0 Each — — ✔ ✔
0.01rev
1/min
PL06 LB2 Speed deviation error detection level 0 Each — — ✔ ✔
mm/s
PL07 LB3 Torque/thrust deviation error detection level 100 % Each — — ✔ ✔
PL08 *LIT3 Linear servo motor/DD motor function selection 3 0010H — Each — — ✔ ✔
PL09 LPWM Magnetic pole detection voltage level 30 % Each — — ✔ ✔
PL10 — 5 — — — — — —
PL11 — 100 — — — — — —
PL12 — 500 — — — — — —
PL13 — For manufacturer setting 0000H — — — — — —
PL14 — 0 — — — — — —
PL15 — 20 — — — — — —
PL16 — 0 — — — — — —
PL17 LTSTS 0000H — Each — — ✔ ✔
Function selection
PL18 IDLV 0 % Each — — ✔ ✔
PL19 — 0 — — — — — —
PL20 — 0 — — — — — —
PL21 — 0 — — — — — —
PL22 — 0 — — — — — —
PL23 — 0000H — — — — — —
PL24 — 0 — — — — — —
PL25 — 0000H — — — — — —
PL26 — 0000H — — — — — —
PL27 — 0000H — — — — — —
PL28 — 0000H — — — — — —
PL29 — 0000H — — — — — —
PL30 — 0000H — — — — — —
PL31 — 0000H — — — — — —
PL32 — 0000H — — — — — —
PL33 — 0000H — — — — — —
PL34 — 0000H — — — — — —
PL35 — 0000H — — — — — —
PL36 — 0000H — — — — — —
PL37 — 0000H — — — — — —
PL38 — 0000H — — — — — —
PL39 — 0000H — — — — — —
PL40 — 0000H — — — — — —
Tab. A-34: List of linear servo motor/DD motor setting parameters for MR-J4W-B (1)
A - 64
Operation
mode
Initial Each/
Standard
value Common
Full.
Lin.
DD
PL41 — 0000H — — — — — —
PL42 — 0000H — — — — — —
PL43 — 0000H — — — — — —
PL44 — 0000H — — — — — —
PL45 — 0000H — — — — — —
PL46 — 0000H — — — — — —
PL47 — 0000H — — — — — —
PL48 — 0000H — — — — — —
Tab. A-34: List of linear servo motor/DD motor setting parameters for MR-J4W-B (2)
How to set parameters

– Each: Set parameters for each axis of A, B, and C.
– Common: Set parameters for common axis of A, B, and C. Be sure to set the same value to all
axes.
The same values are set as default for all axes.


A - 66
Index
Index
A E
Alarm list Electromagnetic brake
MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2 configuration and wiring . . . . . . . . . . . . . . . . . . . .4-33
MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10 EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-43
MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18 line filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-45
B F
Battery Forced stop
MR-BAT6V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16 configuration and wiring . . . . . . . . . . . . . . . . . . . .4-35
MR-BAT6V1BJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 Front cover
MR-BAT6V1SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6 reinstalling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
Battery case removing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
MR-BT6VCASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16 Fully closed loop control . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
C I
Connector CN1 Input voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
MR-J4-A signal arrangement . . . . . . . . . . . . . . . . 4-10 Interface
Connector CN3 RS-422 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-21
MR-J4-B signal arrangement . . . . . . . . . . . . . . . . 4-13 USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-22
MR-J4W-B signal arrangement . . . . . . . . . . . . . . 4-16 Interface wiring
analog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-20
D analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-20
digital input negative logic . . . . . . . . . . . . . . . . . .4-18
DIP switch
digital input positive logic . . . . . . . . . . . . . . . . . . .4-19
disabling of control axes MR-J4W-B . . . . . . . . . 4-30
digital output negative logic . . . . . . . . . . . . . . . . .4-18
setting of control axis number MR-J4-B . . . . . . 4-26
digital output positive logic . . . . . . . . . . . . . . . . . .4-19
setting of control axis number MR-J4W-B . . . . 4-28
IT network
Direct drive servo motor
operation of EMC filters . . . . . . . . . . . . . . . . . . . . . .4-45
general description . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
model overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
J
Display sequence
MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2, 6-6 JOG operation
MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23 MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-17
MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31 MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-24
Dual feedback control . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

Index
L Extension setting parameters MR-J4-A-RJ . . . A-24

Extension setting parameters MR-J4-B . . . . . . A-42
Line filter
Extension setting parameters MR-J4W-A . . . . A-56
1-phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45
Gain/filter setting parameters MR-J4-A . . . . . . . .A-4
3-phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45
Gain/filter setting parameters MR-J4-A-RJ . . . A-22
Linear servo motor
Gain/filter setting parameters MR-J4-B . . . . . . A-40
general description . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
Gain/filter setting parameters MR-J4W-B . . . . A-54
model overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
I/O setting parameters MR-J4-A . . . . . . . . . . . . . . .A-9
Lorentz-type actuator . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
I/O setting parameters MR-J4-A-RJ . . . . . . . . . . A-27
I/O setting parameters MR-J4-B . . . . . . . . . . . . . A-44
M
I/O setting parameters MR-J4W-B . . . . . . . . . . . A-58
MC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3 Linear/DD motor setting param. MR-J4-A . . . . A-15
MCCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3 Linear/DD motor setting param. MR-J4-A-RJ . A-33
Motor-less operation Linear/DD motor setting param. MR-J4-B . . . . A-50
MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20 Linear/DD motor setting param. MR-J4W-B . . A-64
MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27 Option setting parameters MR-J4-A-RJ . . . . . . A-35
MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35 Positioning control parameters MR-J4-A-RJ . . A-36
MR-BAT6V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16 Positioning operation
MR-BAT6V1BJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-18
MR-BAT6V1SET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-25
MR-BT6VCASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33
Program operation
P
MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-20
Parameter MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-25
Basic setting parameters MR-J4-A . . . . . . . . . . . . .7-3 MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33
Basic setting parameters MR-J4-A-RJ . . . . . . . . 7-16 Protective earth terminal . . . . . . . . . . . . . . . . . . . . . . . .4-31
Basic setting parameters MR-J4-B . . . . . . . . . . . 7-30
Basic setting parameters MR-J4W-B . . . . . . . . . 7-41 R
Parameter list
Rating plate
Basic setting parameters MR-J4-A . . . . . . . . . . . . A-3
HG-JR153 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Basic setting parameters MR-J4-A-RJ . . . . . . . . A-21
LM-H3P3A-12P-CSS0 . . . . . . . . . . . . . . . . . . . . . . . .3-13
Basic setting parameters MR-J4-B . . . . . . . . . . . A-39
MR-J4-10A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12
Basic setting parameters MR-J4W-A . . . . . . . . . A-53
MR-J4W3-222B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12
Extension setting 2 parameters MR-J4-A . . . . . A-11
TM-RFM002C20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-19
Extension setting 2 parameters MR-J4-A-RJ . . A-29
Reinstalling the front cover . . . . . . . . . . . . . . . . . . . . . .2-10
Extension setting 2 parameters MR-J4-B . . . . . A-46
Removing the front cover . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Extension setting 2 parameters MR-J4W-B . . . A-60
Rotary servo motor
Extension setting 3 parameters MR-J4-A . . . . . A-13
general description . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Extension setting 3 parameters MR-J4-A-RJ . . A-31 model overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Extension setting 3 parameters MR-J4-B . . . . . A-48 Rotary switch
Extension setting 3 parameters MR-J4W-B . . . A-62
setting the control axis number MR-J4-B . . . . .4-25
Extension setting parameters MR-J4-A . . . . . . . . A-6 setting the control axis number MR-J4W-B . . .4-27
2
Index
S U
Safe Torque Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6 USB-Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-22
Semi closed loop control . . . . . . . . . . . . . . . . . . . . . . . . . .1-7
Servo amplifier W
applicable servo motors . . . . . . . . . . . . . . . . . . . . . .2-5
Warning list
model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
rated output power . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
MR-J4-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-17
Servo motor
MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25
Direct drive motor . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
HG-JR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7
HG-KR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
HG-MR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
HG-RR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9
HG-SR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
HG-UR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Linear motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
LM-F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
LM-H3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
LM-K2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
LM-U2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Rotary motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
TF-RFM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-6

Index
4
HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES
Mitsubishi Electric Europe B.V. EUROPE GEVA Austria Beijer Electronics SIA Latvia TOO Kazpromavtomatika Kazakhstan
Gothaer Straße 8 Wiener Straße 89 Ritausmas iela 23 UL. ZHAMBYLA 28,
D-40880 Ratingen A-2500 Baden LV-1058 Riga KAZ-100017 Karaganda
Phone: +49 (0)2102 / 486-0 Phone: +43 (0)2252 / 85 55 20 Phone: +371 (0)6 / 784 2280 Phone: +7 7212 / 50 10 00
Fax: +49 (0)2102 / 486-1120 Fax: +43 (0)2252 / 488 60 Fax: +371 (0)6 / 784 2281 Fax: +7 7212 / 50 11 50
Mitsubishi Electric Europe B.V. Czech Rep. OOO TECHNIKON Belarus Beijer Electronics UAB Lithuania
Radlická 751/113e Avenir Business Park Prospect Nezavisimosti 177-9 Goštautų g. 3
CZ-158 00 Praha 5 BY-220125 Minsk LT-48324 Kaunas MIDDLE EAST REPRESENTATIVE
Phone: +420 251 551 470 Phone: +375 (0)17 / 393 1177 Phone: +370 37 262707
Fax: +420 251 551 471 Fax: +375 (0)17 / 393 0081 Fax: +370 37 455605 SHERF Motion Techn. Ltd. Israel
Mitsubishi Electric Europe B.V. FRANCE ESCO DRIVES Belgium ALFATRADE Ltd. Malta Rehov Hamerkava 19
25, Boulevard des Bouvets Culliganlaan 3 99, Paola Hill IL-58851 Holon
F-92741 Nanterre Cedex BE-1831 Diegem Malta-Paola PLA 1702 Phone: +972 (0)3 / 559 54 62
Phone: +33 (0)1 / 55 68 55 68 Phone: +32 (0)2 / 717 64 60 Phone: +356 (0)21 / 697 816 Fax: +972 (0)3 / 556 01 82
Fax: +33 (0)1 / 55 68 57 57 Fax: +32 (0)2 / 717 64 61 Fax: +356 (0)21 / 697 817 CEG LIBAN Lebanon
Mitsubishi Electric Europe B.V. IRELAND KONING & HARTMAN B.V. Belgium INTEHSIS SRL Moldova Cebaco Center/Block A Autostrade DORA
Westgate Business Park, Ballymount Woluwelaan 31 bld. Traian 23/1 Lebanon-Beirut
IRL-Dublin 24 BE-1800 Vilvoorde MD-2060 Kishinev Phone: +961 (0)1 / 240 445
Phone: +353 (0)1 4198800 Phone: +32 (0)2 / 257 02 40 Phone: +373 (0)22 / 66 4242 Fax: +961 (0)1 / 240 193
Fax: +353 (0)1 4198890 Fax: +32 (0)2 / 257 02 49 Fax: +373 (0)22 / 66 4280
Mitsubishi Electric Europe B.V. ITALY INEA RBT d.o.o. Bosnia and Herzegovina HIFLEX AUTOM. B.V. Netherlands
Viale Colleoni 7 Palazzo Sirio Stegne 11 Wolweverstraat 22 AFRICAN REPRESENTATIVE
I-20864 Agrate Brianza (MB) SI-1000 Ljubljana NL-2984 CD Ridderkerk
Phone: +39 039 / 60 53 1 Phone: +386 (0)1/ 513 8116 Phone: +31 (0)180 / 46 60 04 ADROIT TECHNOLOGIES South Africa
Fax: +39 039 / 60 53 312 Fax: +386 (0)1/ 513 8170 Fax: +31 (0)180 / 44 23 55 20 Waterford Office Park 189 Witkoppen Road
Mitsubishi Electric Europe B.V. Netherlands AKHNATON Bulgaria KONING & HARTMAN B.V. Netherlands ZA-Fourways
Nijverheidsweg 23a 4, Andrei Ljapchev Blvd., PO Box 21 Energieweg 1 Phone: + 27 (0)11 / 658 8100
NL-3641RP Mijdrecht BG-1756 Sofia NL-2627 AP Delft Fax: + 27 (0)11 / 658 8101
Phone: +31 (0) 297250350 Phone: +359 (0)2 / 817 6000 Phone: +31 (0)15 260 99 06
Fax: +359 (0)2 / 97 44 06 1 Fax: +31 (0)15 261 9194
Mitsubishi Electric Europe B.V. Poland
ul. Krakowska 50 INEA CR Croatia Beijer Electronics AS Norway
PL-32-083 Balice Losinjska 4 a Postboks 487
Phone: +48 (0) 12 347 65 00 HR-10000 Zagreb NO-3002 Drammen
Fax: +48 (0) 12 347 65 01 Phone: +385 (0)1 / 36 940 - 01/ -02/ -03 Phone: +47 (0)32 / 24 30 00
Fax: +385 (0)1 / 36 940 - 03 Fax: +47 (0)32 / 84 85 77
Mitsubishi Electric (Russia) LLC Russia
52, bld. 1 Kosmodamianskaya emb. AutoCont C. S. S.R.O. Czech Republic Fonseca S.A. PORTUGAL
RU-115054 Moscow Kafkova 1853/3 R. João Francisco do Casal 87/89
Phone: +7 495 / 721 2070 CZ-702 00 Ostrava 2 PT-3801-997 Aveiro, Esgueira
Fax: +7 495 / 721 2071 Phone: +420 595 691 150 Phone: +351 (0)234 / 303 900
Fax: +420 595 691 199 Fax: +351 (0)234 / 303 910
Mitsubishi Electric Europe B.V. SPAIN
Carretera de Rubí 76-80 Apdo. 420 Beijer Electronics A/S Denmark SIRIUS TRADING & SERVICES SRL Romania
E-08190 Sant Cugat del Vallés (Barcelona) Lykkegardsvej 17 Aleea Lacul Morii Nr. 3
Phone: +34 (0) 93 / 5653131 DK-4000 Roskilde RO-060841 Bucuresti, Sector 6
Fax: +34 (0) 93 / 5891579 Phone: +45 (0)46/ 75 76 66 Phone: +40 (0)21 / 430 40 06
Fax: +45 (0)46 / 75 56 26 Fax: +40 (0)21 / 430 40 02
Mitsubishi Electric Europe B.V. (Scandinavia) sweden
Fjelievägen 8 HANS FØLSGAARD A/S Denmark INEA SR d.o.o. Serbia
SE-22736 Lund Theilgaards Torv 1 Ul. Karadjordjeva 12/217
Phone: +46 (0) 8 625 10 00 DK-4600 Køge SER-11300 Smederevo
Fax: +46 (0) 46 39 70 18 Phone: +45 4320 8600 Phone: +386 (026) 461 54 01
Fax: +45 4396 8855
Mitsubishi Electric Turkey Elektrik Ürünleri A.Ş. Turkey SIMAP SK (Západné Slovensko) Slovakia
Fabrika Otomasyonu Merkezi Beijer Electronics Eesti OÜ Estonia Jána Derku 1671
Şerifali Mahallesi Nutuk Sokak No.5 Pärnu mnt.160i SK-911 01 Trenčín
TR-34775 Ümraniye-İSTANBUL EE-11317 Tallinn Phone: +421 (0)32 743 04 72
Phone: +90 (0)216 / 526 39 90 Phone: +372 (0)6 / 51 81 40 Fax: +421 (0)32 743 75 20
Fax: +90 (0)216 / 526 39 95 Fax: +372 (0)6 / 51 81 49
INEA RBT d.o.o. Slovenia
Mitsubishi Electric Europe B.V. UK Beijer Electronics OY Finland Stegne 11
Travellers Lane Vanha Nurmijärventie 62 SI-1000 Ljubljana
UK-Hatfield, Herts. AL10 8XB FIN-01670 Vantaa Phone: +386 (0)1 / 513 8116
Phone: +44 (0)1707 / 28 87 80 Phone: +358 (0)207 / 463 500 Fax: +386 (0)1 / 513 8170
Fax: +44 (0)1707 / 27 86 95 Fax: +358 (0)207 / 463 501
Beijer Electronics Automation AB Sweden
Mitsubishi Electric Europe B.V. UAE PROVENDOR OY Finland Box 426
Dubai Silicon Oasis Teljänkatu 8 A3 SE-20124 Malmö
United Arab Emirates - Dubai FIN-28130 Pori Phone: +46 (0)40 / 35 86 00
Phone: +971 4 3724716 Phone: +358 (0) 2 / 522 3300 Fax: +46 (0)40 / 93 23 01
Fax: +971 4 3724721 Fax: +358 (0) 2 / 522 3322
OMNI RAY AG Switzerland
Mitsubishi Electric Corporation JAPAN UTECO A.B.E.E. Greece Im Schörli 5
Tokyo Building 2-7-3 5, Mavrogenous Str. CH-8600 Dübendorf
Marunouchi, Chiyoda-ku GR-18542 Piraeus Phone: +41 (0)44 / 802 28 80
Tokyo 100-8310 Phone: +30 (0)211 / 1206-900 Fax: +41 (0)44 / 802 28 28
Phone: +81 (3) 3218-2111 Fax: +30 (0)211 / 1206-999
Fax: +81 (3) 3218-2185 OOO “CSC-AUTOMATION” Ukraine
MELTRADE Kft. Hungary 4-B, M. Raskovoyi St.
Mitsubishi Electric Automation, Inc. USA Fertő utca 14. UA-02660 Kiev
500 Corporate Woods Parkway HU-1107 Budapest Phone: +380 (0)44 / 494 33 44
Vernon Hills, IL 60061 Phone: +36 (0)1 / 431-9726 Fax: +380 (0)44 / 494-33-66
Phone: +1 (847) 478-2100 Fax: +36 (0)1 / 431-9727
Fax: +1 (847) 478-0328
Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany /
Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com

MR-J4 - Beginner&#39;s Manual 280214-A (10.14)

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MITSUBISHI ELECTRIC

Servo Amplifiers and Motors

Art. No.: 280214

MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes

Proper use of the products

Relevant safety regulations

Beginners Manual Servo Amplifiers MELSERVO J4 I

● Fire safety regulations

Safety warnings in this manual

Compliance with EC directives

Beginners Manual Servo Amplifiers MELSERVO J4 III

Specific safety information and precautions

Specific safety precautions

Beginners Manual Servo Amplifiers MELSERVO J4 V

NOTE Note text

Example 쑴 Example text 쑶

Numbering in figures and illustrations

Writing conventions and guidance notes

Beginners Manual Servo Amplifiers MELSERVO J4 VII

1.1 What is a servo amplifier?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

2 Introduction of the devices

2.1 Servo amplifier series MR-J4-A(-RJ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

3 Introduction of the servo motors

3.1 Rotatory servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Beginners Manual Servo Amplifiers MELSERVO J4 1

3.3 Direct drive servo motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

4 Installation and wiring

4.1 Wiring of power supply, motor and PE terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

5.1 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.3 Startup of servo amplifier series MR-J4-B(-RJ) and MR-J4W-B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

6 Operation and Settings

6.1 Display and operation section of MR-J4-A series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

7.1 MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

8.1 Alarm and warning list MR-J4-A(-RJ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

A.1 Additional information about the series MR-J4-A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

1.1 What is a servo amplifier?

Servo Servo Servo

Motor Motor Motor

Fig. 1-1: Block diagram of a motion control system

Beginners Manual Servo Amplifiers MELSERVO J4 1-1

1.1.2 Function of a servo amplifier

Fig. 1-2: Block diagram of a servo amplifier

1.1.3 Servo motors

Linear servo motor

Direct drive servo motor

Beginners Manual Servo Amplifiers MELSERVO J4 1-3

1.1.4 Features of servo amplifiers and motors of the MELSERVO J4 series

1.2 Environmental conditions

Tab. 1-1: Environmental conditions

Beginners Manual Servo Amplifiers MELSERVO J4 1-5

Direction of rotation of electric motors

Operating modes of the servo amplifier

Fully closed loop system

Control mode Description

Tab. 1-2: Control modes of the closed loop system

Beginners Manual Servo Amplifiers MELSERVO J4 1-7

2 Introduction of the devices

MR-J4-200A(-RJ) or less MR-J4-200A4(-RJ) or less MR-J4-350A(-RJ)

MR-J4-350A4(-RJ) MR-J4-500A(-RJ) MR-J4-500A4(-RJ)

MR-J4-700A(4)(-RJ) MR-J4-11KA(4)(-RJ)/15KA(4)(-RJ) MR-J4-22KA(4)(-RJ)

Fig. 2-1: Model overview of the servo amplifiers MR-J4-A(-RJ)

NOTE The MR-J4-A(4)-RJ servo amplifier has the CN2L connector.

Beginners Manual Servo Amplifiers MELSERVO J4 2-1

MR-J4 - Beginner's Manual 280214-A (10.14)

MR-J4 - Beginner's Manual 280214-A (10.14)

Pull up the cover, supporting at point .

Push down the cover, supporting at point .